Abstract
The purpose of this paper is to propose a kinematic compatibility of exoskeleton suits for human limbs. The kinematic compatibility can eliminate discomfort caused by exoskeletons and make exoskeletons not only enable the users to perform motions but also does not cause discomfort to them. Discomfort is caused by the axial force and torque applying on the human limbs. To avoid discomfort, the relative motions between attached link of human limbs and exoskeleton has to be eliminated and the weight of human limbs and exoskeleton has to be balanced. By taking attached link of human limbs and exoskeleton as the same link, the relative motion is eliminated. To avoid axial force applying on human limbs, the weights of human limbs and exoskeleton have to respectively achieve static balancing. Human limbs performing its original motions is the set of operating dimensions and the DOF of exoskeletons should cover the human limbs. In this thesis, discussing the situation that the set of operating dimensions of exoskeleton is the same as the human limbs. Based on the above conditions, the number of exoskeleton joints for human limbs is obtained. By applying the kinematic compatibility to human limbs with two coplanar links and an axis perpendicular 1-R joint. For the human limbs, take elbow without carrying angle as application and verified whether the axial force approach to zero during the motions when both human limbs and exoskeleton achieve static balancing. If the axial force approaches to zero, it means the exoskeleton won’t cause discomfort to the users.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
D. J. Hyun, H. Park, T. Ha, S. Park, and K. Jung, “Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance,” Robotics and Autonomous Systems, vol. 95, pp. 181-195 (2017).
J. E. Pratt, B. T. Krupp, C. J. Morse, and S. H. Collins, “The RoboKnee: an exoskeleton for enhancing strength and endurance during walking,” in Robotics and Automation, 2004. Proceedings. ICRA’04. 2004 IEEE International Conference on, 2004, vol. 3, pp. 2430-2435 (2004).
J. F. Veneman, R. Kruidhof, E. E. Hekman, R. Ekkelenkamp, E. H. Van Asseldonk, and H. Van Der Kooij, “Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 15, no. 3, pp. 379-386 (2007).
A. Schiele and F. C. Van Der Helm, “Kinematic design to improve ergonomics in human machine interaction,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 14, no. 4, pp. 456-469 (2006).
J. L. Pons, Wearable robots: biomechatronic exoskeletons. John Wiley & Sons, 2008.
C. Carignan and M. Liszka, “Design of an arm exoskeleton with scapula motion for shoulder rehabilitation,” in Advanced Robotics, 2005. ICAR’05. Proceedings., 12th International Conference on, 2005, pp. 524-531 (2005).
M. Bottlang, S. Madey, C. Steyers, J. Marsh, and T. D. Brown, “Assessment of elbow joint kinematics in passive motion by electromagnetic motion tracking,” Journal of Orthopaedic Research, vol. 18, no. 2, pp. 195-202 (2000).
A. Chiri et al., “HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand,” in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 1106-1111 (2009).
J. Beil and T. Asfour, “New mechanism for a 3 DOF exoskeleton hip joint with five revolute and two prismatic joints,” in Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on, pp. 787-792 (2016).
R. Gopura, K. Kiguchi, and D. Bandara, “A brief review on upper extremity robotic exoskeleton systems,” in Industrial and Information Systems (ICIIS), 6th IEEE International Conference on, pp. 346-351 (2011).
J. L. Herder, N. Vrijlandt, T. Antonides, M. Cloosterman, and P. L. Mastenbroek, “Principle and design of a mobile arm support for people with muscular weakness,” Journal of rehabilitation research and development, vol. 43, no. 5, p. 591 (2006).
T. Rahman et al., “Design and testing of a functional arm orthosis in patients with neuromuscular diseases,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 15, no. 2, pp. 244-251 (2007).
Y.-Y. Lee and D.-Z. Chen, “Determination of spring installation configuration on statically balanced planar articulated manipulators,” Mechanism and Machine Theory, vol. 74, pp. 319-336 (2014).
P. De Leva, “Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters,” Journal of biomechanics, vol. 29, no. 9, pp. 1223-1230 (1996).
S. Plagenhoef, F. G. Evans, and T. Abdelnour, “Anatomical data for analyzing human motion,” Research quarterly for exercise and sport, vol. 54, no. 2, pp. 169-178 (1983).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Jhuang, CS., Bao, JA., Chen, DZ. (2019). Kinematic Compatible Elbow Exoskeletons with Static Balance. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_218
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_218
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)