Abstract
Investigators publish new report on robotics. According to news originating from Tempe, Arizona, by NewsRx correspondents, research stated, "This paper presents the design and validation of a wearable shoulder exoskeleton robot intended to serve as a platform for assistive controllers that can mitigate the risk of musculoskeletal disorders seen in workers." Financial supporters for this research include Division of Civil, Mechanical And Manufacturing Innova- tion. Our news journalists obtained a quote from the research from Arizona State University: "The design features a four-bar mechanism that moves the exoskeleton's center of mass from the upper shoulders to the user's torso, dual-purpose gravity compensation mechanism located inside the four-bar's linkages that supports the full gravitational loading from the exoskeleton with partial user's arm weight compensation, and a novel 6 degree-of-freedom (DoF) compliant misalignment compensation mechanism located between the end effector and the user's arm to allow shoulder translation while maintaining control of the arm's direction. Simulations show the four-bar design lowers the center of mass by $ 11 $ cm and the kinematic chain can follow the motion of common upper arm trajectories. Experimental tests show the gravity com- pensation mechanism compensates gravitational loading within $ \pm 0.5 $ Nm over the range of shoulder motion and the misalignment compensation mechanism has the desired 6 DoF stiffness characteristics and range of motion to adjust for shoulder center translation."
NETL
NSTL
Cambridge Univ Press