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International Conference on Intelligent Robotics and Applications

ICIRA 2013: Intelligent Robotics and Applications pp 351–362Cite as

Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX)

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8102))

Abstract

In a clinical environment for rehabilitation therapy, one exoskeleton is usually shared by multiple patients. If the exoskeleton has a rigid structure which is actuated to mobilize a patient, it will be challenging to guarantee these on-site adjustments can make the rigid exoskeleton fit each patient kinematically perfectly. This paper proposes to design an exoskeleton using compliant continuum mechanisms. Its intrinsic flexibility allows the adaption to different human anatomies passively. The design concept, kinematics and design simulations are elaborated for this SJTU Continuum Arm Exoskeleton (SCAX). Combining previous experimental results for a proof-of-concept shoulder exoskeleton, the SCAX could effectively achieve consistent Anatomy Adaptive Assistances (AAA) for different patients with their limb motions.

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Author information

Authors and Affiliations

  1. RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China

    Kai Xu, You Wang & Dong Qiu

Authors
  1. Kai Xu
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  2. You Wang
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  3. Dong Qiu
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Xu, K., Wang, Y., Qiu, D. (2013). Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX). In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_36

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  • DOI: https://doi.org/10.1007/978-3-642-40852-6_36

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40851-9

  • Online ISBN: 978-3-642-40852-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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