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^*

^*Corresponding author for this work

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

1 Citation (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.

Original language	English
Title of host publication	Mechanism Design for Robotics. MEDER 2021
Number of pages	10
Publisher	Springer
Publication date	2021
Pages	122-131
DOIs	https://doi.org/10.1007/978-3-030-75271-2_13
Publication status	Published - 2021

Series	Mechanisms and Machine Science
Volume	103
ISSN	2211-0984

Bibliographical note

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

Keywords

Assistive exoskeleton
Compliant joint
Constant-force
Equilibrium state
Multi-configuration

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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.",

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AB - 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.

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

Abstract

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