Phase one : New Robotic Exoskeleton to Amplify the Wearer's Arm Strength

Last Updated on Thursday, 23 September 2010 20:44 Written by Administrator Saturday, 22 May 2010 16:48

In order to closely follow the motion of the human arm, exoskeletons are designed with the seven principal degrees of freedom (DOF) of the human arm: shoulder (3), elbow (1), and wrist (3). 

Kinematic Structure

A kinematic structure analysis has been realised in order to remove the singularities from the useful workspace. If the mechanical joints are simply aligned with the human joints, that leads to the presence of singularities in middle of the opeator workspace. By modyfing the joint configuration on the shoulder and the wrist, these singularties were moved to the frontier of the human workspace

(From: http://www.ulb.ac.be/scmero/documents/Research/haptic/haptic_design.html )

CAD schematic of Prototype I

The design  at  Biorobotics Lab, Korea

.

Simple simulation of exoskeleton

Dim lights Embed Embed this video on your site