TY - CHAP
T1 - AXO-SUIT - a modular full-body exoskeleton for physical assistance
AU - Bai, Shaoping
AU - Rafique, Sajid
AU - Isaksson, Magnus
AU - O’Sullivan, Leonard
AU - Power, Valerie
AU - Virk, Gurvinder Singh
N1 - Funding Information:
Acknowledgments. The work reported here is supported by the EU AAL Programme, Innovation Fund Denmark, Vinnova, Agentschap Innoveren & Ondernemen and Enterprise Ireland. MTD Precision Engineering, Cork, Ireland, are duely acknowledged for their contribution to design and prototype construction of the AXO-SUIT.
Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
PY - 2019
Y1 - 2019
N2 - This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.
AB - This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.
KW - Physical assistance for the elderly
KW - Robotic exoskeletons
KW - Spherical shoulder mechanism
KW - User-centered design
UR - http://www.scopus.com/inward/record.url?scp=85052801351&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-00365-4_52
DO - 10.1007/978-3-030-00365-4_52
M3 - Book chapter
AN - SCOPUS:85052801351
VL - 66
T3 - Mechanisms and Machine Science
SP - 443
EP - 450
BT - Proc. IFToMM Symposium on Mechanism Design for Robotics
ER -