Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity

An approach to the design of wearable exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The new approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics of both the exoskeleton and the human body, which allows designers to effectively analyze and evaluate an exoskeleton design for their function in concert with the human body. A simulation platform is developed by integrating a biomechanical model of the human body and the exoskeleton. With the proposed approach, an exoskeleton is designed for assisting patients with neuromuscular injuries. Results of the analysis and optimization are included

A new approach to design of a lightweight anthropomorphic arm for service applications

This paper describes a new approach to the design of a lightweight robotic arm for service applications. A major design objective is to achieve a lightweight robot with desired kinematic performance and compliance. This is accomplished by an integrated design optimization approach, where robot kinematics, dynamics, drive-train design and strength analysis by means of finite element analysis (FEA) are generally considered. In this approach, kinematic dimensions, structural dimensions, and the motors and the gearboxes are parameterized as design variables. Constraints are formulated on the basis of kinematic performance, dynamic requirements and structural strength limitations, whereas the main objective is to minimize the weight. The design optimization of a five degree-of-freedom (dof) lightweight arm is demonstrated and the robot development for service application is also presented.</jats:p