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https://doi.org/10.21256/zhaw-3764| Publication type: | Article in scientific journal |
| Type of review: | Peer review (publication) |
| Title: | Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation |
| Authors: | Altenburger, Ruprecht Scherly, Daniel Stadler, Konrad S. |
| DOI: | 10.21256/zhaw-3764 10.1186/s40648-016-0051-5 |
| Published in: | ROBOMECH Journal |
| Volume(Issue): | 3 |
| Issue: | 12 |
| Issue Date: | 2016 |
| Publisher / Ed. Institution: | Springer |
| ISSN: | 2197-4225 |
| Language: | English |
| 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. |
| URI: | https://digitalcollection.zhaw.ch/handle/11475/7100 |
| Fulltext version: | Published version |
| License (according to publishing contract): | CC BY 4.0: Attribution 4.0 International |
| Departement: | School of Engineering |
| Organisational Unit: | Institute of Mechatronic Systems (IMS) |
| Appears in collections: | Publikationen School of Engineering |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| s40648-016-0051-5.pdf | 1.4 MB | Adobe PDF |  View/Open |
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Altenburger, R., Scherly, D., & Stadler, K. S. (2016). Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation. ROBOMECH Journal, 3(12). https://doi.org/10.21256/zhaw-3764
Altenburger, R., Scherly, D. and Stadler, K.S. (2016) ‘Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation’, ROBOMECH Journal, 3(12). Available at: https://doi.org/10.21256/zhaw-3764.
R. Altenburger, D. Scherly, and K. S. Stadler, “Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation,” ROBOMECH Journal, vol. 3, no. 12, 2016, doi: 10.21256/zhaw-3764.
ALTENBURGER, Ruprecht, Daniel SCHERLY und Konrad S. STADLER, 2016. Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation. ROBOMECH Journal. 2016. Bd. 3, Nr. 12. DOI 10.21256/zhaw-3764
Altenburger, Ruprecht, Daniel Scherly, and Konrad S. Stadler. 2016. “Design of a Passive, Iso-Elastic Upper Limb Exoskeleton for Gravity Compensation.” ROBOMECH Journal 3 (12). https://doi.org/10.21256/zhaw-3764.
Altenburger, Ruprecht, et al. “Design of a Passive, Iso-Elastic Upper Limb Exoskeleton for Gravity Compensation.” ROBOMECH Journal, vol. 3, no. 12, 2016, https://doi.org/10.21256/zhaw-3764.
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