Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on a Variable Stiffness Mechanism Torque Generator for Industrial Applications †
Abstract
:1. Introduction
2. Basic Design Concept of the VSM Torque Generator
3. Design Implementation of the Exoskeleton
3.1. Parameter Optimization of the VSM
3.2. Prototype Development
4. Workspace Analysis of the Exoskeleton
5. Performance Evaluation of the Exoskeleton
5.1. Experimental Protocol
5.2. Results
6. Discussion and Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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k | |||
---|---|---|---|
17.4 mm | 31.4 mm | 6.2 N/mm | 10 N |
Description | Value |
---|---|
Length (without frame) | 58.6 mm |
Width (without frame) | 293.8 mm |
Weight (without frame) | 0.705 kg |
Number of DOFs | 3 |
Range of extension/flexion | |
Range of abduction/adduction | |
Range of internal/external rotations | |
Designed payload | kg |
Spring model | BUFSP22-2.5-91 |
Link (i) | ||||
---|---|---|---|---|
1 | 0 | 0 | ||
2 | 0 | 0 | ||
3 | 0 | |||
4 | 0 | 0 |
Muscle Activation Reduction | ||||
---|---|---|---|---|
Tasks | AD | BB | MD | TR |
Static load lifting (90°) | 8.72% | 4.55% | −3.16% | 0.34% |
Static load lifting (135°) | 17.58% | 11.37% | −7.82% | −3.62% |
Dynamic load lifting | 11.68% | 6.36% | −2.57% | −1.01% |
Muscle Activation Reduction | ||||
---|---|---|---|---|
Task | AD | BB | MD | PD |
Box moving | 7.65% | −1.60% | 1.73% | −2.02% |
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Share and Cite
Zhu, Y.; Balser, F.; Shen, M.; Bai, S. Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on a Variable Stiffness Mechanism Torque Generator for Industrial Applications. Robotics 2024, 13, 120. https://doi.org/10.3390/robotics13080120
Zhu Y, Balser F, Shen M, Bai S. Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on a Variable Stiffness Mechanism Torque Generator for Industrial Applications. Robotics. 2024; 13(8):120. https://doi.org/10.3390/robotics13080120
Chicago/Turabian StyleZhu, Yu, Felix Balser, Ming Shen, and Shaoping Bai. 2024. "Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on a Variable Stiffness Mechanism Torque Generator for Industrial Applications" Robotics 13, no. 8: 120. https://doi.org/10.3390/robotics13080120