Individualized arm shells towards an ergonomic design of exoskeleton robots

• Published in: Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics pp. 3958 - 3965
• Main Authors: Reimer, Samuel M. F., Lueth, Tim C., D'Angelo, Lorenzo T.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2014
• Subjects: arm shell; Cameras; ergonomic design; Exoskeleton; Exoskeletons; human-machine interface; individualized; Probes; rapid prototyping; Robots; Three-dimensional displays; triangulation; Vectors
• ISSN: 1062-922X
• DOI: 10.1109/SMC.2014.6974550

This paper introduces a novel method to generate individualized upper extremity exoskeleton structures. This approach aims to overcome micro-misalignments in wearable design technology caused by inter-subject variability. Geometric dimensions of the patient's forearm are measured using a stereo camera and infrared reflecting markers. Surfaces are generated using Delaunay's Triangulation and converted into an STL -file for 3D printing in order to be a more compatible design and produce a swift development of custom-fit exoskeleton structures. This paper summarizes the design steps of individualized structures that could be implemented in future exoskeleton designs. The fitting accuracy was compared to that of non-individualized shells by applying an 8 kg weight onto the worn shells. Results showed a significantly larger pressure distribution and lower maximum pressure among individualized shells compared to non-individualized shells, which results in a 5% higher tolerance to applied pressure of the exoskeleton.