Eight-Bar Elbow Joint Exoskeleton Mechanism
Abstract
:1. Introduction
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- A natural coupling with the human arm;
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- Wearable by workers of different arm sizes;
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- One motor only;
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- A comfortable motor installation under the human arm.
2. Ten-Bar Exoskeleton Elbow Joint Mechanism
3. Kinematic Analysis
- Watt I six-bar linkage
- Crossed four-bar linkage
- Ten-bar mechanism
3.1. Watt I Six-Bar Linkage
3.2. Crossed Four-Bar Linkage
3.3. Ten-Bar Mechanism
4. Graphical and Numerical Results
5. Application and Prototype
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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r1 [mm] | r2 = r6 [mm] | r31 [mm] | r32 [mm] | r41 [mm] | r42 [mm] |
---|---|---|---|---|---|
70 | 30 | 45 | 50 | 65 | 40 |
r8 [mm] | r9 [mm] | r10 [mm] | r11 [mm] | d1 = d3 [mm] | d2 [mm] |
25 | 65 | 60 | 18 | 30 | 117.50 |
θ2 [deg] | vA [mm/s] | vB [mm/s] | vC [mm/s] | vD [mm/s] | vE [mm/s] |
---|---|---|---|---|---|
255 | [28.978, −7.765]T | [23.220, −17.463]T | [16.82, −28.239]T | [34.78, −35.324]T | [37.509, −28.21]T |
290 | [28.191, 10.261]T | [12.906, −5.905]T | [−4.077, −23.86]T | [13.328, −23.80]T | [20.848, −9.538]T |
vH6 [mm/s] | vH8 [mm/s] | vH68 [mm/s] | vM [mm/s] | vN [mm/s] | |
255 | [8.648, 56.278]T | [34.933, 39.356]T | [−26.38, 16.937]T | [8.853, 8.549]T | [17.782, 2.818]T |
290 | [−39.128, 44.18]T | [16.092, 24.658]T | [−54.675, 20.00]T | [5.443, 6.483]T | [12.502, 3.904]T |
θ2 [deg] | ω3 [rad/s] | ω4 [rad/s] | ω5 [rad/s] | ω6 [rad/s] | ω8 [rad/s] | ω9 [rad/s] | ω10 [rad/s] | ω11 [rad/s] |
---|---|---|---|---|---|---|---|---|
255 | −0.251 | 0.447 | −0.127 | 0.644 | 0.424 | 0.277 | 0.205 | 0.219 |
290 | −0.4944 | 0.2183 | −0.2688 | 0.5802 | 0.3007 | 0.2015 | 0.1411 | 0.2795 |
r1 = r31 = r32 = r5 = d [mm] | r2 = r41 = r42 = r6 = c = e [mm] | r8 = r11 [mm] | r9 = r10 [mm] | d1 = d3 [mm] | d2 [mm] |
---|---|---|---|---|---|
70 | 60 | 18 | 57.90 | 30 | 117.50 |
θ2 [deg] | vA = vB = vC [mm/s] | vD = vE [mm/s] | |||
---|---|---|---|---|---|
300 | [51.962, 30.000]T | [112.583, 65.000]T | |||
252 | [57.063, −18.5410]T | [13.328, −23.804]T | |||
vH6 [mm/s] | vH8 [mm/s] | vH68 [mm/s] | vM [mm/s] | vN [mm/s] | |
300 | [−58.750, 101.758]T | [−45.816, 103.288]T | [−13.556, −11.892]T | [9.158, 29.955]T | [29.650, 47.93]T |
252 | [36.309, 111.749]T | [58.722, 103.305]T | [−22.609, 8.507]T | [16.74, 19.605]T | [35.108, 12.69]T |
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Figliolini, G.; Lanni, C.; Tomassi, L.; Ortiz, J. Eight-Bar Elbow Joint Exoskeleton Mechanism. Robotics 2024, 13, 125. https://doi.org/10.3390/robotics13090125
Figliolini G, Lanni C, Tomassi L, Ortiz J. Eight-Bar Elbow Joint Exoskeleton Mechanism. Robotics. 2024; 13(9):125. https://doi.org/10.3390/robotics13090125
Chicago/Turabian StyleFigliolini, Giorgio, Chiara Lanni, Luciano Tomassi, and Jesús Ortiz. 2024. "Eight-Bar Elbow Joint Exoskeleton Mechanism" Robotics 13, no. 9: 125. https://doi.org/10.3390/robotics13090125