NDLI: Attaching sub-links on linear actuators of wearable robots for payload increase

Content Provider	IEEE Xplore Digital Library
Author	Dong-Hyun Jeong Junghoon Choo Seungwoo Jeong Gilwhoan Chu
Copyright Year	2014
Description	Author affiliation: Mech. & Electr. R&D Inst., DSME (Daewoo Shipbuilding & Marine Eng. Co., Ltd.), South Korea (Dong-Hyun Jeong; Seungwoo Jeong; Gilwhoan Chu) \|\| Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea (Junghoon Choo)
Abstract	A wearable robot with linear actuators is required to maintain over the desired payload over whole range of knee joint angle even when the user is walking, sitting down/standing up while holding up weights. However, in knee-flexion posture, the lifting payload at the knee joint decreases drastically by the moment arm of linear actuators and the cosine of joint angle. In order to solve the problem of the payload decrease, the sub-links attaching on actuators and the sub-link with shank bending method are proposed. As the result, two methods are successfully proved to increase the payload by simulation.
Starting Page	1296
Ending Page	1301
File Size	975238
Page Count	6
File Format	PDF
e-ISBN	9781479957361
DOI	10.1109/AIM.2014.6878261
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Payloads Knee Robots Actuators Joining processes Force
Content Type	Text
Resource Type	Article

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Attaching sub-links on linear actuators of wearable robots for payload increase