NDLI: Increasing payload capacity of wearable robots employing linear actuators and elastic mechanism

Content Provider	Springer Nature Link
Author	Choo, Junghoon Park, Jong Hyeon
Copyright Year	2017
Abstract	In military and industrial applications, wearable robots should meet the required payload capacity in all human motion range owing to dealing with heavy loads, which is safety and work performance issues. But, the payload capacity of wearable robots employing linear actuators gradually decreases while the pilot bends his knees with a stand-to-sit motion, because the moment arm of actuating force varies and decreases drastically. To deal with this issue, this study proposes an elastic mechanism combined with a sub-link mechanism to increase the moment arm of the elastic force in the knee-flexion posture. This mechanism generates additional torque to supplement the force needed during sit-to-stand and stand-to-sit motions with heavy loads. The proposed mechanism was simulated and tested with a wearable robot, and its effectiveness was verified.
Starting Page	661
Ending Page	671
Page Count	11
File Format	PDF
ISSN	22347593
Journal	International Journal of Precision Engineering and Manufacturing
Volume Number	18
Issue Number	5
e-ISSN	20054602
Language	English
Publisher	Korean Society for Precision Engineering
Publisher Date	2017-05-09
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Wearable robot Exoskeleton Linear actuator Moment arm Payload capacity Elastic mechanism Industrial and Production Engineering Materials Science
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering Electrical and Electronic Engineering

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