NDLI: A close-to-body 3-spring configuration for gravity balancing of the arm

Content Provider	IEEE Xplore Digital Library
Author	Dunning, A.G. Herder, J.L.
Copyright Year	2015
Description	Author affiliation: Dept. Biomech. Eng., Delft Univ. of Technol., Delft, Netherlands (Dunning, A.G.) \|\| Dept. Precision & Microsyst. Eng., Delft Univ. of Technol., Delft, Netherlands (Herder, J.L.)
Abstract	A close-to-body arm support is needed to meet the need of patients for an inconspicuous arm support that is not stigmatizing. At the moment, these arm supports do not exist. All commercially available arm support use springs with a parallelogram structure that needs auxiliary links to balance the arm. Recent literature presents a 2-spring configuration without auxiliary links with multi-articular springs. A restriction to this spring configuration is that it cannot be attached close to the body. In this paper a new 3-spring configuration and a concept for attachment to the body is proposed. One bi-articular spring that spans the shoulder and elbow joint, one mono-articular spring that spans the elbow, and one mono-articular spring that spans the shoulder are used to balance the arm in its complete 3D workspace. The spring that spans the shoulder joint is rotated about the shoulder to bring the configuration closer to the body. To study the effect of this modification, the system was evaluated for the 9 most important positions for activities of daily life and the potential energy values of the whole system are compared. The energy values show no large difference as compared to the ideal 2-link system. We conclude therefore that the addition of an extra spring makes it possible to bring the spring configuration closer to the body. This extra spring does not introduce significant balancing errors, on top of the error of extra mass of the arm support and other alignment errors.
Starting Page	464
Ending Page	469
File Size	826639
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281243
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	Potential energy Three-dimensional displays Clothing Shoulder Springs Joints Elbow
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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