| MECHANICAL ENGINEERING |
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Exoskeleton for shoulder joint assistance based on underactuated parallel cable mechanism |
| LI Fan1, LI Dongxing1, WANG Dianjun2, CHEN Ya2, TANG Xiaoqiang1,3,4 |
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Mechanical Engineering Academy, Beijing Institute of Petrochemical Technology, Beijing 102617, China;
3. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China;
4. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing 100084, China |
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Abstract Parallel cable-driven exoskeletons for motion assistance have the advantages of good compatibility with the human body, large range of motion, and many degrees of freedom. However, it often requires multiple motors to drive multiple cables, increasing the weight and energy consumption of the actuator. In the previous design, it was impossible to reduce the number of motors while realizing the multi-cable force control and multi-degree-of-freedom assistance. This paper proposes an exoskeleton for shoulder joint assistance based on an underactuated parallel cable mechanism, utilizing cams and springs to realize the three-degree-of-freedom assistance of the shoulder joint. According to a given action of the arm, this research conducts kinematics modeling, static modeling, cable arrangement optimization and cam profile designing. As a result, only one motor is used to achieve the different output speeds required by multiple cables. The analysis and simulation of the relationship between the rotation angle of the motor and the force of each cable in accordance with the three-degree-of-freedom assisting relationship of the shoulder joint were done. Results show that the corresponding relationship between the motor rotation angle and the cable force is accurate, verifying the feasibility of the under-driven mechanism for multi-cable and multi-degree-of-freedom force control.
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| Keywords
powered exoskeleton
cable-driven parallel robot
cam design
force control
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Issue Date: 14 January 2022
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2022,
Vol. 62
