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The Hidden Potential of Energetically Passive Exoskeletons Read chapter Read first chapter

2022 | OriginalPaper | Chapter

A Semi-active Upper-Body Exoskeleton for Motion Assistance

Authors : Shaoping Bai, Muhammad R. Islam, Karl Hansen, Jacob Nørgaard, Chin-Yin Chen, Guilin Yang

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

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Abstract

This paper describes a semi-active assistive exoskeleton for upper-body motion assistance. The exoskeleton combines a passive shoulder exoskeleton and an active elbow joint unit, which can achieve both passive gravity compensation and also active assistance to carrying and sit-to-stand motion. The design, sensing and control are introduced, with preliminary test results performed.

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previous chapter Direct Collocation-Based Optimal Controller for Multi-modal Assistance: Simulation Study
next chapter Ultrasound-Based Sensing and Control of Functional Electrical Stimulation for Ankle Joint Dorsiflexion: Preliminary Study
Literature
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B.A. Pearce, et al., Robotics to enable older adults to remain living at home. J. Aging Res. 2012, 538169 (2012)
2.
T. Proietti, V. Crocher et al., Upper-limb robotic exoskeletons for neurorehabilitation: a review on control strategies. IEEE Rev. Biomed. Eng. 9, 4–14 (2016)CrossRef
3.
M.A. Gull, S. Bai, T. Bak, A review on design of upper limb exoskeletons. Robotics 9(1), 16 (2020)CrossRef
4.
S. Christensen, S. Bai, Kinematic analysis and design of a novel shoulder exoskeleton using a double parallelogram linkage. ASME J. Mech. Robot. 10(4), 041008 (2018)CrossRef
5.
T. Bosch et al., The effects of a passive exoskeleton on muscle activity, discomfort and endurance time in forward bending work. Appl. Ergon. 54, 212–217 (2016)CrossRef
6.
M.R.U. Islam, S. Bai, Payload estimation using forcemyography sensors for control of upper-body exoskeleton in load carrying assistance. Model. Identification Control 40(4), 189–198 (2019)
Metadata
Title
A Semi-active Upper-Body Exoskeleton for Motion Assistance
Authors
Shaoping Bai
Muhammad R. Islam
Karl Hansen
Jacob Nørgaard
Chin-Yin Chen
Guilin Yang
Copyright Year
2022
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-69546-0

Electronic ISBN: 978-3-030-69547-7

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-030-69547-7_49