Gravity Balancing Conditions for an Upper Arm Exoskeleton

This source preferred by Venky Dubey

Authors: Dubey, V.N. and Agrawal, S.K.

Journal: Journal of Medical Devices

Volume: 4

ISSN: 1932-6181

An upper-arm wearable exoskeleton has been designed for assistance and functional training of humans. One of the goals of this design is to provide passive assistance to a user by gravity balancing, while keeping the transmitted forces to the shoulder joints at a minimum. Consistent with this goal, this paper addresses the following questions: (i) an analytical study of gravity balancing design conditions for the structure of the human arm,(ii) minimization of transmitted shoulder joint forces while satisfying the gravity balancing conditions, and (iii) possible implementation of these conditions into practical designs using zerofree length springs.

The data on this page was last updated at 04:45 on September 21, 2017.