NDLI: Directional stiffness attachment design for an upper limb exoskeleton

Content Provider	IEEE Xplore Digital Library
Author	Miranda, A.B.W. Coelho, T.H. Forner-Cordero, A. Siqueira, A.A.G.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Sao Paulo, Sao Carlos, Brazil (Siqueira, A.A.G.) \|\| Dept. of Mechatron. & Mech. Syst., Univ. of Sao Paulo, Sao Paulo, Brazil (Miranda, A.B.W.; Coelho, T.H.; Forner-Cordero, A.)
Abstract	One of the major problems in the project of an exoskeleton is the design of adequate attachments or fixations between the human body and the robotic device. In this work it has been proposed, analyzed and tested a new design for a compliant exoskeleton fixation based on metallic strips. These strips behave as a rigid interface in the sagittal plane of the arm and act as compliant interfaces to compensate for misalignments between the exoskeleton and the human limb. The design concept has been modelled and analyzed mathematically and then included in an exoskeleton prototype for the upper arm with three degrees of freedom. The load tests have provided a range of feasible values for the strips. These values have been used to build the attachments of an upper limb exoskeleton with three actuated degrees of freedom. The system is ready for tests with humans to determine the actual force transfer between the human and the exoskeleton during typical arm movements and if this system improves user comfort.
Starting Page	446
Ending Page	450
File Size	674048
Page Count	5
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281240
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Couplings Strips physical human robot interaction Exoskeletons Force exoskeleton Mathematical model Joints Robots
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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