Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons

Yichen Liu; Zhongyi Li; Shaoping Bai

doi:10.1007/978-3-030-75271-2_13

Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons

Yichen Liu, Zhongyi Li, Shaoping Bai^*

^*Kontaktforfatter

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

1 Citationer (Scopus)

Abstract

Constant-force mechanisms can be used for gravity counterbalance and force regulation. While many constant-force mechanisms have been designed, most of them have a limited range of force adjustment, which brings very limited capability to maintain an equilibrium state when load changes. In this paper, a novel design of reconfigurable constant-force mechanism is proposed. The mechanism is designed from the concept of hinged-lever constant-force mechanism. Through adjusting the configuration parameter, a large adjustment range of the equilibrium state is achieved. Mathematical models are developed to simulate the equilibrium performance changed with configuration parameters. A prototype is constructed and validates the working principle of the novel design, demonstrated with a concept of assistive arm exoskeleton.

Originalsprog	Engelsk
Titel	Mechanism Design for Robotics. MEDER 2021
Antal sider	10
Forlag	Springer
Publikationsdato	2021
Sider	122-131
DOI	https://doi.org/10.1007/978-3-030-75271-2_13
Status	Udgivet - 2021

Navn	Mechanisms and Machine Science
Vol/bind	103
ISSN	2211-0984

Bibliografisk note

Funding Information:
Acknowledgments. The project is in part supported by Innovation Fund Denmark through Grand Solutions project EXO-AIDER. The first author acknowledges the financial support by Chongqing University for his visiting study at AAU.

Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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10.1007/978-3-030-75271-2_13

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Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons

Abstract

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