Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton
| Autor: | Hyun-Min Joe, Oh-Hyun Kang, Junghwan Yun |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
human assistance
0209 industrial biotechnology Computer science payload Walking TP1-1185 02 engineering and technology Biochemistry variable stiffness Lower limb Analytical Chemistry 020901 industrial engineering & automation 0203 mechanical engineering Range (aeronautics) Humans Torque unpowered Electrical and Electronic Engineering Instrumentation Simulation torque compensation Variable stiffness Payload Chemical technology Communication exoskeleton Exoskeleton Device Atomic and Molecular Physics and Optics Biomechanical Phenomena Exoskeleton 020303 mechanical engineering & transports Lower Extremity Hip Joint Dynamic equation |
| Zdroj: | Sensors (Basel, Switzerland) Sensors, Vol 21, Iss 4037, p 4037 (2021) |
| ISSN: | 1424-8220 |
| Popis: | This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer’s required torque by easily applying it to the cam–follower structure was developed. An exoskeleton dynamic equation that can calculate a person’s required joint torque given the required payload and the wearer’s posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam–follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|