A Conceptual Exoskeleton Shoulder Design for the Assistance of Upper Limb Movement

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 existin...

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Bibliographic Details
Published inTowards Autonomous Robotic Systems Vol. 10965; pp. 291 - 302
Main Authors Perez, Carlos Navarro, Georgilas, Ioannis, Etoundi, Appolinaire C., Chong, Jj, Jafari, Aghil
Format Book Chapter
LanguageEnglish
Published Switzerland Springer International Publishing AG 2018
Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Assistive systems
Exoskeleton design
Wearable technology
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ISBN9783319967271
3319967274
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-96728-8_25

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Summary: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.
ISBN:9783319967271
3319967274
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-96728-8_25