TY - GEN
T1 - Development of a parallel-structured upper limb exoskeleton for lifting assistance
AU - Zhang, Rui
AU - Zhu, Yanhe
AU - Li, Hongwu
AU - Lin, Nengxu
AU - Zhao, Jie
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85074276062
U2 - 10.1109/AIM.2019.8868535
DO - 10.1109/AIM.2019.8868535
M3 - 会议稿件
AN - SCOPUS:85074276062
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 307
EP - 312
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -