An upper-body exoskeleton with a novel shoulder mechanism for assistive applications

Shaoping Bai; Simon Christensen; Muhammad Raza Ul Islam

doi:10.1109/AIM.2017.8014156

An upper-body exoskeleton with a novel shoulder mechanism for assistive applications

Shaoping Bai, Simon Christensen, Muhammad Raza Ul Islam

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

46 Citationer (Scopus)

Abstract

The paper presents the mechatronic design of an upper-body exoskeleton. The problem of shoulder mechanism design is addressed to allow the exoskeleton able to match the motion of the human shoulder complex. A novel spherical mechanism that consists of two revolute joints connected together via a double parallelogram linkage (DPL) is analyzed and designed. With the new shoulder mechanism, a four-degree-of-freedom upper-body exoskeleton is designed and constructed. Human-robot interaction control with admittance controller is described and preliminary results are presented.

Originalsprog	Engelsk
Titel	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Antal sider	6
Forlag	IEEE
Publikationsdato	21 aug. 2017
Sider	1041-1046
Artikelnummer	8014156
ISBN (Elektronisk)	978-1-5090-6000-9
DOI	https://doi.org/10.1109/AIM.2017.8014156
Status	Udgivet - 21 aug. 2017
Begivenhed	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Tyskland Varighed: 3 jul. 2017 → 7 jul. 2017

Konference

Konference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Land/Område	Tyskland
By	Munich
Periode	03/07/2017 → 07/07/2017

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10.1109/AIM.2017.8014156

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Citationsformater

@inproceedings{e3aa0fa6683a4e3597d04e85dd85f52b,

title = "An upper-body exoskeleton with a novel shoulder mechanism for assistive applications",

abstract = "The paper presents the mechatronic design of an upper-body exoskeleton. The problem of shoulder mechanism design is addressed to allow the exoskeleton able to match the motion of the human shoulder complex. A novel spherical mechanism that consists of two revolute joints connected together via a double parallelogram linkage (DPL) is analyzed and designed. With the new shoulder mechanism, a four-degree-of-freedom upper-body exoskeleton is designed and constructed. Human-robot interaction control with admittance controller is described and preliminary results are presented.",

author = "Shaoping Bai and Simon Christensen and Islam, {Muhammad Raza Ul}",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014156",

language = "English",

pages = "1041--1046",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

publisher = "IEEE",

address = "United States",

note = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

}

Bai, S, Christensen, S & Islam, MRU 2017, An upper-body exoskeleton with a novel shoulder mechanism for assistive applications. i 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014156, IEEE, s. 1041-1046, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Tyskland, 03/07/2017. https://doi.org/10.1109/AIM.2017.8014156

An upper-body exoskeleton with a novel shoulder mechanism for assistive applications. / Bai, Shaoping; Christensen, Simon; Islam, Muhammad Raza Ul.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, 2017. s. 1041-1046 8014156.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - An upper-body exoskeleton with a novel shoulder mechanism for assistive applications

AU - Bai, Shaoping

AU - Christensen, Simon

AU - Islam, Muhammad Raza Ul

PY - 2017/8/21

Y1 - 2017/8/21

N2 - The paper presents the mechatronic design of an upper-body exoskeleton. The problem of shoulder mechanism design is addressed to allow the exoskeleton able to match the motion of the human shoulder complex. A novel spherical mechanism that consists of two revolute joints connected together via a double parallelogram linkage (DPL) is analyzed and designed. With the new shoulder mechanism, a four-degree-of-freedom upper-body exoskeleton is designed and constructed. Human-robot interaction control with admittance controller is described and preliminary results are presented.

AB - The paper presents the mechatronic design of an upper-body exoskeleton. The problem of shoulder mechanism design is addressed to allow the exoskeleton able to match the motion of the human shoulder complex. A novel spherical mechanism that consists of two revolute joints connected together via a double parallelogram linkage (DPL) is analyzed and designed. With the new shoulder mechanism, a four-degree-of-freedom upper-body exoskeleton is designed and constructed. Human-robot interaction control with admittance controller is described and preliminary results are presented.

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DO - 10.1109/AIM.2017.8014156

M3 - Article in proceeding

AN - SCOPUS:85028754674

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EP - 1046

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - IEEE

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

An upper-body exoskeleton with a novel shoulder mechanism for assistive applications

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