A conceptual exoskeleton shoulder design for the assistance of upper limb movement

Perez, Carlos Navarro; Georgilas, Ioannis; Etoundi, Appolinaire; Chong, Jj; Jafari, Aghil

Abstract

© Springer International Publishing AG, part of Springer Nature 2018. There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskeletal structures found in humans, reproducing existing behaviors and capabilities. The current work is expanding on existing systems with a novel design that ensures the maximum range of motion while at the same time allowing for lockable features ensuring higher manipulation payloads at minimum energy and fatigue costs. An analysis of the biomechanics of the shoulder is being done and a detailed system design for structural as well actuation elements of a parallel mechanism is given. The benefits for the use are discussed of reduced weight, maximum range of motion at minimum energy cost.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: Towards Autonomous Robotic Systems (TAROS) Conference
• Start Date: Jul 25, 2018
• End Date: Jul 27, 2018
• Acceptance Date: Apr 12, 2018
• Publication Date: Jan 1, 2018
• Deposit Date: May 10, 2018
• Publicly Available Date: Aug 29, 2018
• Journal: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
• Print ISSN: 0302-9743
• Publisher: Springer Verlag
• Peer Reviewed: Peer Reviewed
• Volume: 10965 LNAI
• Pages: 291-302
• ISBN: 9783319967271
• DOI: https://doi.org/10.1007/978-3-319-96728-8_25
• Keywords: exoskeleton design, assistive systems, wearable technology
• Public URL: https://uwe-repository.worktribe.com/output/864330
• Publisher URL: https://doi.org/10.1007/978-3-319-96728-8_25
• Additional Information: Additional Information : This is the accepted version of the article. The published version is available online at https://doi.org/10.1007/978-3-319-96728-8_25; Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems (TAROS) Conference
• Contract Date: Aug 29, 2018