CVGC-II: A New Version of a Compact Variable Gravity Compensator With a Wider Range of Variable Torque and Energy-Free Variable Mechanism

Kim, Jehyeok; Moon, Junyoung; Ryu, Jae-Wook; Lee, Giuk

doi:10.1109/tmech.2021.3094677

Cited by 10 publications

(3 citation statements)

References 27 publications

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“…These functions make effective assistive torque transfer to the human body by allowing free motion of the human body. The assistive torque source module is the modified CVGC-II, which is a modified version of CVGC-II [ 26 ] tailored for hip joint assistance. The variable gravity compensation mechanism of the CVGC-II system can change the magnitude of the assistive torque by adjusting the leverage ratio through moving the pivot location.…”

Section: Development Of Quasi-passive Back-support Exoskeleton: Aebsmentioning

confidence: 99%

“…In addition, because of the modified coil spring, the maximum assistive torque of the modified CVGC-II system in the DOWN phase increased to 7.04 Nm, relative to the maximum value of 5.1 Nm of CVGC-II. Additionally, the variable range of assistive torque extended from 4.1 Nm to 5.81 Nm [ 26 ].Therefore, CVGC-II was successfully modified to assist the hip joint with higher torque within a wider range.…”

Section: Hardware Evaluationmentioning

confidence: 99%

“…To mitigate the limitations of existing quasi-passive exoskeletons and provide proper adjustable assistive torque to the human body, we developed a quasi-passive exoskeleton named the AD exo-Back Support (AeBS). By using the compact variable gravity compensation (CVGC-II) mechanism [ 26 ], AeBS can provide assistive torque of various magnitudes to the human body without restricting the range-of-motion. The lever mechanism of CVGC-II eliminates the need for precompression of passive elements, thereby ensuring that the range-of-motion is not limited.…”

Section: Introductionmentioning

confidence: 99%

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Development of Quasi-Passive Back-Support Exoskeleton with Compact Variable Gravity Compensation Module and Bio-Inspired Hip Joint Mechanism

Song,

Moon,

Kim

et al. 2024

Biomimetics

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The back support exoskeletons have garnered significant attention to alleviate musculoskeletal injuries, prevalent in industrial settings. In this paper, we propose AeBS, a quasi-passive back-support exoskeleton developed to provide variable assistive torque across the entire range of hip joint motion, for tasks with frequent load changes. AeBS can adjust the assistive torque levels while minimizing energy for the torque variation without constraining the range of motion of the hip joint. To match the requisite assistance levels for back support, a compact variable gravity compensation module with reinforced elastic elements is applied to AeBS. Additionally, we devised a bio-inspired hip joint mechanism that mimics the configuration of the human hip axis to ensure the free body motion of the wearer, significantly affecting assistive torque transmission and wearing comfort. Benchtop testing showed that AeBS has a variable assistive torque range of 5.81 Nm (ranging from 1.23 to 7.04 Nm) across a targeted hip flexion range of 135°. Furthermore, a questionnaire survey revealed that the bio-inspired hip joint mechanism effectively facilitates the transmission of the intended assistive torque while enhancing wearer comfort.

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Section: Development Of Quasi-passive Back-support Exoskeleton: Aebsmentioning

confidence: 99%

Section: Hardware Evaluationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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