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|Title:||Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation|
|Authors :||Altenburger, Ruprecht|
Stadler, Konrad S.
|Published in :||ROBOMECH Journal|
|Publisher / Ed. Institution :||Springer|
|License (according to publishing contract) :||CC BY 4.0: Namensnennung 4.0 International|
|Type of review:||Peer review (Publication)|
|Subjects :||Exoskeleton Iso-elastic; Assistive device; Passive; Design optimisation; Gravity compensation|
|Subject (DDC) :||620: Engineering|
|Abstract:||An additional mechanical mechanism for a passive parallelogram-based exoskeleton arm-support is presented. It consists of several levers and joints and an attached extension coil spring. The additional mechanism has two favourable features. On the one hand it exhibits an almost iso-elastic behaviour whereby the lifting force of the mechanism is constant for a wide working range. Secondly, the value of the supporting force can be varied by a simple linear movement of a supporting joint. Furthermore a standard tension spring can be used to gain the desired behavior. The additional mechanism is a 4-link mechanism affixed to one end of the spring within the parallelogram arm-support. It has several geometrical parameters which influence the overall behaviour. A standard optimisation routine with constraints on the parameters is used to find an optimal set of geometrical parameters. Based on the optimized geometrical parameters a prototype was constructed and tested. It is a lightweight wearable system, with a weight of 1.9 kg. Detailed experiments reveal a difference between measured and calculated forces. These variations can be explained by a 60 % higher pre load force of the tension spring and a geometrical offset in the construction.|
|Departement:||School of Engineering|
|Organisational Unit:||Institute of Mechatronic Systems (IMS)|
|Publication type:||Article in scientific Journal|
|Appears in Collections:||Publikationen School of Engineering|
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