Abstract
A novel wire-driven shoulder exoskeleton is presented. The exoskeleton is designed with spherical scissors mechanism to achieve a compact and light weight design. Wire-driven approach is adopted to actuate the mechanism effectively without increasing its weight and size. Kinematic simulation verifies the feasibility of the wire-driven system. The structural stiffness is evaluated through FEA.
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Acknowledgements
This research was funded by the key research and development project of Shanxi province (Grant Nos. 201803D421027, 201803D421028), the foundation of Shanxi key laboratory of advanced manufacturing technology (Grant No. XJZZ201702).
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Li, R., Liu, Z., Mi, W., Bai, S., Zhang, J. (2020). Design and Kinematic Analysis of a Novel Wire-Driven Spherical Scissors Mechanism. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_20
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DOI: https://doi.org/10.1007/978-981-15-0142-5_20
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