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A conceptual exoskeleton shoulder design for the assistance of upper limb movement
Authors
A Stienen
B Tondu
+10 more
D Ingram
D Neumann
F Helm Van der
G Giacomo Di
GR Johnson
H Gray
H Yan
M Schenkman
P Maciejasz
W Maurel
Publication date
1 January 2018
Publisher
'Springer Science and Business Media LLC'
Doi
Cite
Abstract
© Springer International Publishing AG, part of Springer Nature 2018. There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskeletal structures found in humans, reproducing existing behaviors and capabilities. The current work is expanding on existing systems with a novel design that ensures the maximum range of motion while at the same time allowing for lockable features ensuring higher manipulation payloads at minimum energy and fatigue costs. An analysis of the biomechanics of the shoulder is being done and a detailed system design for structural as well actuation elements of a parallel mechanism is given. The benefits for the use are discussed of reduced weight, maximum range of motion at minimum energy cost
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