Design of a 7 Degree-of-Freedom Upper-Limb Powered Exoskeleton

Perry, J.C. and Rosen, J. (2006) Design of a 7 Degree-of-Freedom Upper-Limb Powered Exoskeleton. In: Proceedings of the 2006 BioRob Conference.

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Abstract

The exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. Worn by the human, the exoskeleton transmits torques from proximally located actuators through rigid exoskeletal links to the human joints. This paper presents the development of an anthropometric seven degree-of-freedom powered exoskeleton for the upper limb. The design was based on a database defining the kinematics and the dynamics of the upper limb during daily living activities, as well as workspace analyses, joint ranges of motion, and joint physiological and upper limb anatomical considerations. Proximal placement of motors and distal placement of pulley reductions were incorporated into the design of a cable-driven wearable robotic arm. This design led to low inertias, high-stiffness links, and back-drivable transmissions with zero backlash. Potential applications of the exoskeleton as a wearable robot include use as: (1) a therapeutic and diagnostics device for physiotherapy, (2) an assistive (orthotic) device for human power amplifications, (3) a haptic device in virtual reality simulation, and (4) a master device for teleoperation.

Item Type: Conference or Workshop Item (Paper)
Subjects: Z Other
Divisions: Department of Electrical Engineering
Department of Mechanical Engineering
Depositing User: Andrew Haddock
Date Deposited: 13 Jul 2015 23:31
Last Modified: 13 Jul 2015 23:31
URI: http://brl.ee.washington.edu/eprints/id/eprint/176

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