Abstract:
Aiming to augment the force-output ability and improve the power-to-weight ratio of upper limb exoskeleton, this paper presents the development of a parallel-structured u...Show MoreMetadata
Abstract:
Aiming to augment the force-output ability and improve the power-to-weight ratio of upper limb exoskeleton, this paper presents the development of a parallel-structured upper limb exoskeleton focusing on assisting operators when lifting loads. The kinematics architecture of the equipment is determined based on human biomechanical traits. Simulations to validate the output ability of the parallel structure is performed. After optimizing structure parameters, the mechanical design of the equipment is elaborated and the implementation of the control system is described. Experiments demonstrate that the prototype built in parallel structure can lift load up to 1.5 times of the exoskeleton’s weight, while still maintain a good performance on fast tracking. This research provides an efficient and convenient way to assist load carrying jobs.
Date of Conference: 08-12 July 2019
Date Added to IEEE Xplore: 17 October 2019
ISBN Information: