Study of an upper arm exoskeleton for gravity balancing and minimization of transmitted forces

This source preferred by Venky Dubey

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

Journal: Proceedings of the Institution of Mechanical Engineers, Part H, Journal of Engineering in Medicine

Volume: 225

Pages: 1025-1035

ISSN: 0954-4119

DOI: 10.1177/0954411911420664

An upper-arm wearable exoskeleton has been designed for the 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 discusses: analytical gravity balancing design conditions for the structure of the exoskeleton; a possible implementation of these conditions into practical designs; the minimization of transmitted joint forces to the shoulder while satisfying the gravity balancing conditions; the numerical optimization of the system for gravity balancing and minimization of transmitted forces; and the effect of parameter variation on joint moments and joint forces via numerical optimization.

An implementation of the design was undertaken using zero-free-length springs. The design idea presented in this paper may be useful in relieving the actuators effort of exoskeletons to support the weight of the arm and therefore the possibility of using small actuators and making the system light and portable or even a stand-alone passive support device can be developed based on these gravity balancing conditions.

This data was imported from PubMed:

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

Journal: Proc Inst Mech Eng H

Volume: 225

Issue: 11

Pages: 1025-1035

ISSN: 0954-4119

DOI: 10.1177/0954411911420664

An upper-arm wearable exoskeleton has been designed for the 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 discusses: analytical gravity balancing design conditions for the structure of the exoskeleton; a possible implementation of these conditions into practical designs; the minimization of transmitted joint forces to the shoulder while satisfying the gravity balancing conditions; the numerical optimization of the system for gravity balancing and minimization of transmitted forces; and the effect of parameter variation on joint moments and joint forces via numerical optimization. An implementation of the design was undertaken using zero-free-length springs. The design idea presented in this paper may be useful in relieving the actuators effort of exoskeletons to support the weight of the arm and therefore the possibility of using small actuators and making the system light and portable or even a stand-alone passive support device can be developed based on these gravity balancing conditions.

This data was imported from Scopus:

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

Journal: Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine

Volume: 225

Issue: 11

Pages: 1025-1035

eISSN: 2041-3033

ISSN: 0954-4119

DOI: 10.1177/0954411911420664

An upper-arm wearable exoskeleton has been designed for the 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 discusses: analytical gravity balancing design conditions for the structure of the exoskeleton; a possible implementation of these conditions into practical designs; the minimization of transmitted joint forces to the shoulder while satisfying the gravity balancing conditions; the numerical optimization of the system for gravity balancing and minimization of transmitted forces; and the effect of parameter variation on joint moments and joint forces via numerical optimization.An implementation of the design was undertaken using zero-free-length springs. The design idea presented in this paper may be useful in relieving the actuators effort of exoskeletons to support the weight of the arm and therefore the possibility of using small actuators and making the system light and portable or even a stand-alone passive support device can be developed based on these gravity balancing conditions. © IMechE 2011.

This data was imported from Web of Science (Lite):

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

Journal: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE

Volume: 225

Issue: H11

Pages: 1025-1035

eISSN: 2041-3033

ISSN: 0954-4119

DOI: 10.1177/0954411911420664

This data was imported from Europe PubMed Central:

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

Journal: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine

Volume: 225

Issue: 11

Pages: 1025-1035

eISSN: 2041-3033

ISSN: 0954-4119

An upper-arm wearable exoskeleton has been designed for the 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 discusses: analytical gravity balancing design conditions for the structure of the exoskeleton; a possible implementation of these conditions into practical designs; the minimization of transmitted joint forces to the shoulder while satisfying the gravity balancing conditions; the numerical optimization of the system for gravity balancing and minimization of transmitted forces; and the effect of parameter variation on joint moments and joint forces via numerical optimization. An implementation of the design was undertaken using zero-free-length springs. The design idea presented in this paper may be useful in relieving the actuators effort of exoskeletons to support the weight of the arm and therefore the possibility of using small actuators and making the system light and portable or even a stand-alone passive support device can be developed based on these gravity balancing conditions.

The data on this page was last updated at 04:42 on November 25, 2017.