publication . Article . Other literature type . 2018

Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

Pengzhan Liu; Wang Xiaoguang; Song Qiuzhi; Wang Xin;
Open Access English
  • Published: 17 Mar 2018 Journal: Applied Sciences (issn: 2076-3417, Copyright policy)
  • Publisher: MDPI AG
Abstract
The contradiction between self-weight and load capacity of a power-assisted upper-limb exoskeleton for material hanging is unresolved. In this paper, a non-anthropomorphic 3-degree of freedom (DOF) upper-limb exoskeleton with an internally rotated elbow joint is proposed based on an anthropomorphic 5-DOF upper-limb exoskeleton for power-assisted activity. The proposed 3-DOF upper-limb exoskeleton contains a 2-DOF shoulder joint and a 1-DOF internally rotated elbow joint. The structural parameters of the 3-DOF upper-limb exoskeleton were determined, and the differences and singularities of the two exoskeletons were analyzed. The workspace, the joint torques and t...
Subjects
arXiv: Computer Science::RoboticsAstrophysics::Solar and Stellar Astrophysics
Medical Subject Headings: human activitiesbody regionsmusculoskeletal diseases
free text keywords: upper-limb exoskeleton, power-assisted, material hanging, workspace, non-anthropomorphic, Technology, T, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999, Shoulder joint, medicine.anatomical_structure, medicine, Exoskeleton, Computer science, Elbow, Load capacity, Upper limb exoskeleton, Torque, Control theory, Kinematics
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