Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties

Gopura, R. A. R. C.; Kiguchi, Kazuo

doi:10.1109/icorr.2009.5209630

Cited by 139 publications

(94 citation statements)

References 48 publications

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“…1). 12 The wrist joins the hand with the forearm and the elbow joins the forearm with the upper arm. The shoulder joins upper limb with the torso.…”

Section: Upper Limb Kinematicsmentioning

confidence: 99%

A novel 3-DOF optical force sensor for wearable robotic arm

Shams

Kim

Choi

et al. 2011

Int. J. Precis. Eng. Manuf.

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This paper presents a novel 3-DOF optical force sensor for the wearable robotic arm. Precise sensing of human motion is still a challenge. As human motion detection sensors are expected to generate the real time data, with simultaneous measurement of multiple degrees of freedom. The optical sensing is considered to be standard for monitoring the human motion. The optical sensor is consists of high speed camera with integrated DSP (Digital Signal Processor). The DSP use to detect the changes in the sequence of frames to calculate the direction and displacement of its motion in a plane. On the other hand optical sensor eliminates the requirement of being in contact with the subject. Hand is the end-effecter of the arm and can be controlled by a 3-DOF (degree of freedom) shoulder, 2-DOF elbow and 2-DOF wrist joint. In this paper we present a new technique to measure the human's hand movement in 3 dimensions translation frame. An intelligent computational method for this sensory system to measure the applied force is also developed. The optical force sensor was calibrated and then several experiments were conducted to check the feasibility of sensory system with the wearable robotic arm.

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“…1). 12 The wrist joins the hand with the forearm and the elbow joins the forearm with the upper arm. The shoulder joins upper limb with the torso.…”

Section: Upper Limb Kinematicsmentioning

confidence: 99%

A novel 3-DOF optical force sensor for wearable robotic arm

Shams

Kim

Choi

et al. 2011

Int. J. Precis. Eng. Manuf.

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“…On the other hand, the design of robot upper limb system allows the implementation of sophisticated control algorithms and manipulation behaviors and the study of mobile manipulation and strategies of service robotics [6]. In the nearly fifty decades, as a branch of robot upper limb system, exoskeletons for upper limbs have progressed from the stuff of science fiction to nearly commercialized products [7], which are supposed to play an crucial role in the field of rehabilitation, motion assist, human power augmentation and haptic interaction [8].…”

Section: Introductionmentioning

confidence: 99%

GCUA Humanoid Robotic Hand with Tendon Mechanisms and Its Upper Limb

Che

Zhang

2011

Int J of Soc Robotics

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Upper limbs of human beings are extremely special and significant, which obtain crucial function to achieve manipulations intelligently and dexterously. Gesture-Changeable Under-Actuated (GCUA) grasping function is presented to improve the capability of robotic hands to achieve humanoid manipulations with low dependence on control and sensor feedback systems, which includes traditional under-actuated (UA) grasping motion and special prebending (PB) motion. Based on GCUA function, GCUA Hand II is developed, which has 5 fingers and 14 DOF. All the fingers use similar tendon mechanisms and motors to achieve GCUA function. With GCUA Hand II, a humanoid robot upper limb system is designed, which has two 3-DOF arms actuated by stepper motors and two 14-DOF hands actuated by DC motors. The control system includes four parts: a computer, a FPGA motion controller, a driver module, and a user module, which can control the upper limb system to do various movements dexterously and exactly. With C++ language, a spatial motion program is designed to assist researchers to determine spatial motions of the upper limb system. This system has a great prospect in the field of rehabilitation engineering, extremely environmental manipulation, humanoid robotics and social services.

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“…2 At present, exoskeleton robots have been used in military, medical, and industrial applications, mainly to provide assistance to the wearer in power during rehabilitation. 3 The mass of the load that the human body can bear is limited, as is the duration that the human body can sustain the load. An exoskeleton can combine human intelligence with mechanical carrying capacity so that the wearer can carry a larger mass load without it feeling difficult.…”

Section: Introductionmentioning

confidence: 99%

Automatic load-adapting passive upper limb exoskeleton

Zhu

Zhang

et al. 2017

Advances in Mechanical Engineering

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The passive exoskeleton with an automatic load-adapting mechanism is proposed in the article, which can assist people to do rehabilitation exercise and be used for the load carrying. The structure of the overall design is expounded in detail. In order to achieve a more efficient arrangement of space structure and to reduce the weight of the structure, a gas spring was selected as the passive energy actor. Furthermore, through effective design, the capability of automatic load-adapting was achieved in the structure. As the characteristics of the gas spring force will change with increasing elongation, curve fitting of the function to the gas spring force was achieved by the structural design. As a result, the performance of the exoskeleton was improved significantly after balancing.

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Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties

Cited by 139 publications

References 48 publications

A novel 3-DOF optical force sensor for wearable robotic arm

A novel 3-DOF optical force sensor for wearable robotic arm

GCUA Humanoid Robotic Hand with Tendon Mechanisms and Its Upper Limb

Automatic load-adapting passive upper limb exoskeleton

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