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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

36 Citations (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.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Number of pages	6
Publisher	IEEE
Publication date	21 Aug 2017
Pages	1041-1046
Article number	8014156
ISBN (Electronic)	978-1-5090-6000-9
DOIs	https://doi.org/10.1109/AIM.2017.8014156
Publication status	Published - 21 Aug 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	03/07/2017 → 07/07/2017

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10.1109/AIM.2017.8014156

Cite this

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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}",

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

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

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Bai, S , Christensen, S & Islam, MRU 2017, An upper-body exoskeleton with a novel shoulder mechanism for assistive applications. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014156, IEEE, pp. 1041-1046, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 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. p. 1041-1046 8014156.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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AU - Islam, Muhammad Raza Ul

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

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