Mechanism Design and Kinematics Analysis of an Original Cable-driving Exoskeleton Robot

Ma, Ruqi; Tang, Zixin; Gao, Xueyan; Ni, Wencheng

doi:10.1109/imcec.2018.8469235

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…In 2017, Yu proposed a new 7-DOF upper limb robot exoskeleton [10] . Each arm includes force and torque sensors to detect human motion, but the balance between high-intensity load and lightweight design still needs to be solved; in 2018, Ma designed an exoskeleton robot driven by steel wires to achieve motion and torque transmission [11] . The flexible mechanism design of joints can be achieved by adjusting the stiffness of the rope drive system, but the reliability and stability of the equipment need to be strengthened; in 2020, Xu used the rotation angle to solve the redundant problem of robot inverse kinematics online [12] , laying a foundation for further research on robot kinematics, control and human-computer interaction strategies, but the equipment flexibility needs to be further improved; in 2020, Chen proposed an upper limb exoskeleton rehabilitation robot based on pneumatic muscle actuator [13] , which can plan the rehabilitation trajectory through curve fitting, and use fuzzy synovial controller (FSMC) for rehabilitation control, but how to ensure the stable storage of gas is a problem to be solved; the wearable exoskeleton upper limb rehabilitation robot designed by J in 2020 has solved the problem of large size of supporting upper limb rehabilitation robot [14] , but the comfort of wearing effect needs to be improved.…”

Section: Introductionmentioning

confidence: 99%

Structure design and analysis of upper limb wearable passive power-assisted exoskeleton robot

Ning

Zhang

et al. 2023

J. Phys.: Conf. Ser.

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The upper limb exoskeleton robot has been a key research direction at home and abroad in recent years. Still, the existing upper limb exoskeleton robot has poor coupling with the human body, and the power assistance effect could be better. In this paper, the strength of each muscle group of the upper limb when the human body is carrying objects is measured as reflected by the surface EMG signal of the human body, and the human kinematics is analyzed to guide the design of the passive exoskeleton robot of the upper limb. First, the spring tension and compression system model is established for the upper limb of the human body. The model is statically analyzed, the forces and moments on each joint are calculated, and each muscle’s actual output data when carrying objects is estimated. Based on the muscle kinematics model, a passive upper limb exoskeleton robot is designed. The robot is divided into three modules, namely, the arm module, shoulder module, and back module, using ergonomics and modular design ideas. The energy storage module and joint degree of freedom of the exoskeleton are analyzed to ensure that the exoskeleton meets the requirements of ergonomics, and the key components are checked and simulated. The results show that the designed upper limb wearable passive power-assisted exoskeleton robot meets the strength requirements, which verifies the rationality of the structure design.

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Section: Introductionmentioning

confidence: 99%

Structure design and analysis of upper limb wearable passive power-assisted exoskeleton robot

Ning

Zhang

et al. 2023

J. Phys.: Conf. Ser.

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Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

Islam

Montenegro

et al. 2021

2021 18th International Multi-Conference on Systems, Signals &Amp; Devices (SSD)

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Eight-Bar Elbow Joint Exoskeleton Mechanism

Figliolini,

Lanni,

Tomassi

et al. 2024

Robotics

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This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particular, the proposed eight-bar elbow joint exoskeleton mechanism consists of a motorized Watt I six-bar linkage and a suitable RP dyad, which connects mechanically the external parts of the human arm with the corresponding forearm by hook and loop velcro, thus helping their closing relative motion for lifting objects during repetitive and heavy operations. This relative motion is not a pure rotation, and thus the upper part of the exoskeleton is fastened to the arm, while the lower part is not rigidly connected to the forearm but through a prismatic pair that allows both rotation and sliding along the forearm axis. Instead, the human arm is sketched by means of a crossed four-bar linkage, which coupler link is considered as attached to the glyph of the prismatic pair, which is fastened to the forearm. Therefore, the kinematic analysis of the whole ten-bar mechanism, which is obtained by joining the Watt I six-bar linkage and the RP dyad to the crossed four-bar linkage, is formulated to investigate the main kinematic performance and for design purposes. The proposed algorithm has given several numerical and graphical results. Finally, a double-parallelogram linkage, as in the particular case of the Watt I six-bar linkage, was considered in combination with the RP dyad and the crossed four-bar linkage by giving a first mechanical design and a 3D-printed prototype.

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Mechanism Design and Kinematics Analysis of an Original Cable-driving Exoskeleton Robot

Cited by 3 publications

References 12 publications

Structure design and analysis of upper limb wearable passive power-assisted exoskeleton robot

Structure design and analysis of upper limb wearable passive power-assisted exoskeleton robot

Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

Eight-Bar Elbow Joint Exoskeleton Mechanism

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