Design of a wearable upper-limb exoskeleton for activities assistance of daily living

Dongbao Sui; Jizhuang Fan; Hongzhe Jin; Xuefeng Cai; Jie Zhao; Yanhe Zhu

doi:10.1109/AIM.2017.8014123

Design of a wearable upper-limb exoskeleton for activities assistance of daily living

Dongbao Sui
, Jizhuang Fan
, Hongzhe Jin
, Xuefeng Cai
, Jie Zhao
, Yanhe Zhu^*

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

48 Scopus citations

Abstract

Most of the upper limb exoskeletons proposed in the literature are designed for rehabilitation, however, there are few developments for activities assistance of daily living. This paper presents a wearable upper limb exoskeleton for activities assistance of daily living with the feature of mobility. It provides five degrees-of-freedom (DOF) for each arm, where 3 DOF and 2 DOF are given to the shoulder and elbow, respectively. And it allows the wearer to keep freedom and mobility as usual after wearing the device. To conquer the strength-To-weight limitations of exoskeleton mobility, we introduced gravity balance method to reduce energy consumption and proposed a novel cable-driven joint mechanism to reduce its total weight to 4.2 kg. In order to verify the plausibility of joints design and its performance on motion assistance, joints tracking test and motion assistance test were carried out, respectively. Their results support that the proposed exoskeleton is feasible and efficacious.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	845-850
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014123
State	Published - 21 Aug 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/AIM.2017.8014123

Cite this

Sui, D., Fan, J., Jin, H., Cai, X., Zhao, J., & Zhu, Y. (2017). Design of a wearable upper-limb exoskeleton for activities assistance of daily living. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 845-850). Article 8014123 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014123

Sui, Dongbao ; Fan, Jizhuang ; Jin, Hongzhe et al. / Design of a wearable upper-limb exoskeleton for activities assistance of daily living. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 845-850 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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title = "Design of a wearable upper-limb exoskeleton for activities assistance of daily living",

abstract = "Most of the upper limb exoskeletons proposed in the literature are designed for rehabilitation, however, there are few developments for activities assistance of daily living. This paper presents a wearable upper limb exoskeleton for activities assistance of daily living with the feature of mobility. It provides five degrees-of-freedom (DOF) for each arm, where 3 DOF and 2 DOF are given to the shoulder and elbow, respectively. And it allows the wearer to keep freedom and mobility as usual after wearing the device. To conquer the strength-To-weight limitations of exoskeleton mobility, we introduced gravity balance method to reduce energy consumption and proposed a novel cable-driven joint mechanism to reduce its total weight to 4.2 kg. In order to verify the plausibility of joints design and its performance on motion assistance, joints tracking test and motion assistance test were carried out, respectively. Their results support that the proposed exoskeleton is feasible and efficacious.",

author = "Dongbao Sui and Jizhuang Fan and Hongzhe Jin and Xuefeng Cai and Jie Zhao and Yanhe Zhu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014123",

language = "英语",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

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Sui, D, Fan, J , Jin, H, Cai, X, Zhao, J & Zhu, Y 2017, Design of a wearable upper-limb exoskeleton for activities assistance of daily living. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014123, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 845-850, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014123

Design of a wearable upper-limb exoskeleton for activities assistance of daily living. / Sui, Dongbao; Fan, Jizhuang ; Jin, Hongzhe et al.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 845-850 8014123 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Sui, Dongbao

AU - Fan, Jizhuang

AU - Jin, Hongzhe

AU - Cai, Xuefeng

AU - Zhao, Jie

AU - Zhu, Yanhe

PY - 2017/8/21

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N2 - Most of the upper limb exoskeletons proposed in the literature are designed for rehabilitation, however, there are few developments for activities assistance of daily living. This paper presents a wearable upper limb exoskeleton for activities assistance of daily living with the feature of mobility. It provides five degrees-of-freedom (DOF) for each arm, where 3 DOF and 2 DOF are given to the shoulder and elbow, respectively. And it allows the wearer to keep freedom and mobility as usual after wearing the device. To conquer the strength-To-weight limitations of exoskeleton mobility, we introduced gravity balance method to reduce energy consumption and proposed a novel cable-driven joint mechanism to reduce its total weight to 4.2 kg. In order to verify the plausibility of joints design and its performance on motion assistance, joints tracking test and motion assistance test were carried out, respectively. Their results support that the proposed exoskeleton is feasible and efficacious.

AB - Most of the upper limb exoskeletons proposed in the literature are designed for rehabilitation, however, there are few developments for activities assistance of daily living. This paper presents a wearable upper limb exoskeleton for activities assistance of daily living with the feature of mobility. It provides five degrees-of-freedom (DOF) for each arm, where 3 DOF and 2 DOF are given to the shoulder and elbow, respectively. And it allows the wearer to keep freedom and mobility as usual after wearing the device. To conquer the strength-To-weight limitations of exoskeleton mobility, we introduced gravity balance method to reduce energy consumption and proposed a novel cable-driven joint mechanism to reduce its total weight to 4.2 kg. In order to verify the plausibility of joints design and its performance on motion assistance, joints tracking test and motion assistance test were carried out, respectively. Their results support that the proposed exoskeleton is feasible and efficacious.

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ER -

Sui D, Fan J , Jin H, Cai X, Zhao J , Zhu Y. Design of a wearable upper-limb exoskeleton for activities assistance of daily living. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 845-850. 8014123. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2017.8014123

Design of a wearable upper-limb exoskeleton for activities assistance of daily living

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