AXO-SUIT - a modular full-body exoskeleton for physical assistance

Shaoping Bai; Sajid Rafique; Magnus Isaksson; Leonard O’Sullivan; Valerie Power; Gurvinder Singh Virk

doi:10.1007/978-3-030-00365-4_52

AXO-SUIT - a modular full-body exoskeleton for physical assistance

Shaoping Bai^*, Sajid Rafique, Magnus Isaksson, Leonard O’Sullivan, Valerie Power, Gurvinder Singh Virk

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceeding › Book chapter › Research › peer-review

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proc. IFToMM Symposium on Mechanism Design for Robotics
Number of pages	8
Volume	66
Publication date	2019
Pages	443-450
DOIs	https://doi.org/10.1007/978-3-030-00365-4_52
Publication status	Published - 2019

Series	Mechanisms and Machine Science
ISSN	2211-0984

Bibliographical note

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.

Keywords

Physical assistance for the elderly
Robotic exoskeletons
Spherical shoulder mechanism
User-centered design

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10.1007/978-3-030-00365-4_52

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abstract = "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.",

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AU - Power, Valerie

AU - Virk, Gurvinder Singh

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AXO-SUIT - a modular full-body exoskeleton for physical assistance

Abstract

Bibliographical note

Keywords

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AUB Link

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