首页|Design of gravity-balanced exoskeletons with linkage-belt hybrid transmissions
Design of gravity-balanced exoskeletons with linkage-belt hybrid transmissions
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NSTL
Elsevier
As wearable mechanisms, exoskeletons are highly coupled with limbs, which makes it necessary to carefully consider the compliances of the human-machine system. In this paper, the compliances are divided into kinematic, static, and dynamic compliances which should be met simultaneously during design. However, most of the current designs only focused on one of them but ignored the other two. This paper proposes planar gravity-balanced exoskeletons with linkage-belt hybrid transmissions. Each exoskeleton includes a locating part, an anti-gravity torque generation part, and a torque transmission part. The locating part achieves the kinematic compliance when misalignments between human-machine joints occur, the anti-gravity torque generation part realizes the static compliance by balancing the human-machine system, and the torque transmission meets the dynamic compliance by placing the heavy part of the mechanism at the proximal end to reduce the distal inertia, thereby achieving comprehensive wearability.
NSTL
Elsevier
