Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons

Zhongyi Li; Shaoping Bai

doi:10.1109/ICCMA46720.2019.8988697

Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons

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

2 Citationer (Scopus)

Abstract

This paper presents a compact variable stiffness mechanism (VSM) with reconfigurability. The VSM is able to achieve variable stiffness in adjustable ranges, due to its reconfigurable design. The new VSM features with a compact and light weight structure, and can be used as a stand alone module, or integrated in wearable elbow exoskeletons and other transmissions. In the paper, mechanics models are developed for VSM to reveal the stiffness performance and torque-deflection characteristics. A prototype of VSM is constructed and static testing results validate the models. The proposed VSM is finally integrated in a wearable elbow exoskeleton.

Originalsprog	Engelsk
Titel	2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)
Forlag	IEEE
Publikationsdato	2019
ISBN (Trykt)	978-1-7281-3788-9
ISBN (Elektronisk)	978-1-7281-3787-2
DOI	https://doi.org/10.1109/ICCMA46720.2019.8988697
Status	Udgivet - 2019
Begivenhed	2019 IEEE 7th International Conference on Control, Mechatronics and Automation - Varighed: 6 nov. 2019 → 8 nov. 2019

Konference

Konference	2019 IEEE 7th International Conference on Control, Mechatronics and Automation
Periode	06/11/2019 → 08/11/2019

Adgang til dokumentet

10.1109/ICCMA46720.2019.8988697

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

2 Citationer
1 Ph.d.-afhandling

Design and Control of a Compliant Joint for Upper-body Exoskeletons in Physical Assistance
li, Z., 2020, Aalborg Universitetsforlag. 109 s.
Publikation: Ph.d.-afhandling

Åben adgang
Fil

Citationsformater

@inproceedings{9b81f9221f0443c38f0c0fe4216f6006,

title = "Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons",

abstract = "This paper presents a compact variable stiffness mechanism (VSM) with reconfigurability. The VSM is able to achieve variable stiffness in adjustable ranges, due to its reconfigurable design. The new VSM features with a compact and light weight structure, and can be used as a stand alone module, or integrated in wearable elbow exoskeletons and other transmissions. In the paper, mechanics models are developed for VSM to reveal the stiffness performance and torque-deflection characteristics. A prototype of VSM is constructed and static testing results validate the models. The proposed VSM is finally integrated in a wearable elbow exoskeleton.",

keywords = "design engineering, medical robotics, rigidity",

author = "Zhongyi Li and Shaoping Bai",

year = "2019",

doi = "10.1109/ICCMA46720.2019.8988697",

language = "English",

isbn = "978-1-7281-3788-9",

booktitle = "2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)",

publisher = "IEEE",

address = "United States",

note = "2019 IEEE 7th International Conference on Control, Mechatronics and Automation ; Conference date: 06-11-2019 Through 08-11-2019",

}

TY - GEN

T1 - Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons

AU - Li, Zhongyi

AU - Bai, Shaoping

PY - 2019

Y1 - 2019

N2 - This paper presents a compact variable stiffness mechanism (VSM) with reconfigurability. The VSM is able to achieve variable stiffness in adjustable ranges, due to its reconfigurable design. The new VSM features with a compact and light weight structure, and can be used as a stand alone module, or integrated in wearable elbow exoskeletons and other transmissions. In the paper, mechanics models are developed for VSM to reveal the stiffness performance and torque-deflection characteristics. A prototype of VSM is constructed and static testing results validate the models. The proposed VSM is finally integrated in a wearable elbow exoskeleton.

AB - This paper presents a compact variable stiffness mechanism (VSM) with reconfigurability. The VSM is able to achieve variable stiffness in adjustable ranges, due to its reconfigurable design. The new VSM features with a compact and light weight structure, and can be used as a stand alone module, or integrated in wearable elbow exoskeletons and other transmissions. In the paper, mechanics models are developed for VSM to reveal the stiffness performance and torque-deflection characteristics. A prototype of VSM is constructed and static testing results validate the models. The proposed VSM is finally integrated in a wearable elbow exoskeleton.

KW - design engineering

KW - medical robotics

KW - rigidity

U2 - 10.1109/ICCMA46720.2019.8988697

DO - 10.1109/ICCMA46720.2019.8988697

M3 - Article in proceeding

SN - 978-1-7281-3788-9

BT - 2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)

PB - IEEE

T2 - 2019 IEEE 7th International Conference on Control, Mechatronics and Automation

Y2 - 6 November 2019 through 8 November 2019

ER -

Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons

Abstract

Konference

Adgang til dokumentet

AUB Link

Fingeraftryk

Publikation

Design and Control of a Compliant Joint for Upper-body Exoskeletons in Physical Assistance

Citationsformater