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

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

2 Citations (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.

Original language	English
Title of host publication	2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)
Publisher	IEEE
Publication date	2019
ISBN (Print)	978-1-7281-3788-9
ISBN (Electronic)	978-1-7281-3787-2
DOIs	https://doi.org/10.1109/ICCMA46720.2019.8988697
Publication status	Published - 2019
Event	2019 IEEE 7th International Conference on Control, Mechatronics and Automation - Duration: 6 Nov 2019 → 8 Nov 2019

Conference

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

Keywords

design engineering
medical robotics
rigidity

Access to Document

10.1109/ICCMA46720.2019.8988697

AUB Link

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2 Citations
1 PhD thesis

Design and Control of a Compliant Joint for Upper-body Exoskeletons in Physical Assistance
li, Z., 2020, Aalborg Universitetsforlag. 109 p.
Research output: PhD thesis

Open Access
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Cite this

@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

Conference

Keywords

Access to Document

AUB Link

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Research output

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

Cite this