Title :
A preliminary study on a twisted strings-based elbow exoskeleton
Author :
Popov, Dmitry ; Gaponov, Igor ; Ryu, Jiheon
Author_Institution :
Sch. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea
Abstract :
This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.
Keywords :
actuators; haptic interfaces; human-robot interaction; medical robotics; mobile robots; robot kinematics; telerobotics; DOF; haptic application; human intention detection method; intrinsic compliance; joint actuation mechanism; kinematic model; rehabilitation application; teleoperation; twisted strings-based actuator; twisted strings-based elbow exoskeleton; Elbow; Exoskeletons; Force; Mathematical model; Particle separators; Pulleys; Torque; H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O; I.2.9 [Artificial Intelligence]: Robotics-Kinematics and dynamics;
Conference_Titel :
World Haptics Conference (WHC), 2013
Conference_Location :
Daejeon
Print_ISBN :
978-1-4799-0087-9
DOI :
10.1109/WHC.2013.6548455