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Gravity balancing conditions for an upper arm exoskeleton

Authors: Dubey, V. and Agrawal, S.

Journal: Journal of Medical Devices, Transactions of the ASME

Volume: 4

Issue: 2

Pages: 1

eISSN: 1932-619X

ISSN: 1932-6181

DOI: 10.1115/1.3442754

Source: Scopus

Gravity balancing conditions for an upper arm exoskeleton

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

Conference: 2010 Design of Medical Devices Conference

Dates: 13-15 April 2010

Abstract:

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 zero-free length springs.

Source: Manual

Preferred by: Venky Dubey