Gravity balancing conditions for an upper arm exoskeleton

This source preferred by Venky Dubey

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

Start date: 13 April 2010

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.

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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

The data on this page was last updated at 05:09 on February 24, 2020.