Optimization of a parallel shoulder mechanism to achieve a high-force, low-mass, robotic-arm exoskeleton

Julius Klein; Steve Spencer; J. Allington; James E. Bobrow; David J. Reinkensmeyer

doi:10.1109/TRO.2010.2052170

Optimization of a parallel shoulder mechanism to achieve a high-force, low-mass, robotic-arm exoskeleton

Julius Klein^*
, Steve Spencer
, J. Allington
, James E. Bobrow
, David J. Reinkensmeyer

^*Corresponding author for this work

University of California at Irvine

Research output: Contribution to journal › Article › peer-review

109 Citations (Scopus)

Abstract

This paper describes a robotic-arm exoskeleton that uses a parallel mechanism inspired by the human forearm to allow naturalistic shoulder movements. The mechanism can produce large forces through a substantial portion of the range of motion (RoM) of the human arm while remaining lightweight. This paper describes the optimization of the exoskeletons torque capabilities by the modification of the key geometric design parameters.

Original language	English
Article number	5497202
Pages (from-to)	710-715
Number of pages	6
Journal	IEEE Transactions on Robotics
Volume	26
Issue number	4
DOIs	https://doi.org/10.1109/TRO.2010.2052170
Publication status	Published - Aug 2010
Externally published	Yes

Keywords

Arm exoskeleton
parallel mechanism
pneumatic robot
rehabilitation devices

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10.1109/TRO.2010.2052170

Cite this

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abstract = "This paper describes a robotic-arm exoskeleton that uses a parallel mechanism inspired by the human forearm to allow naturalistic shoulder movements. The mechanism can produce large forces through a substantial portion of the range of motion (RoM) of the human arm while remaining lightweight. This paper describes the optimization of the exoskeletons torque capabilities by the modification of the key geometric design parameters.",

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AB - This paper describes a robotic-arm exoskeleton that uses a parallel mechanism inspired by the human forearm to allow naturalistic shoulder movements. The mechanism can produce large forces through a substantial portion of the range of motion (RoM) of the human arm while remaining lightweight. This paper describes the optimization of the exoskeletons torque capabilities by the modification of the key geometric design parameters.

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KW - pneumatic robot

KW - rehabilitation devices

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Optimization of a parallel shoulder mechanism to achieve a high-force, low-mass, robotic-arm exoskeleton

Abstract

Keywords

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