Please use this identifier to cite or link to this item: https://idr.l4.nitk.ac.in/jspui/handle/123456789/7193
Title: Active Upper Arm Exoskeleton - Design and Kinematic Analysis
Authors: Santra, P.
Mukhopadhyay, A.
Debnath, B.
Herbert, M.A.
Bhaumik, S.
Issue Date: 2019
Citation: Proceedings of 2019 IEEE Region 10 Symposium, TENSYMP 2019, 2019, Vol., , pp.462-467
Abstract: The authors present a design of an exoskeleton with 6 active degrees of freedom (DOF) and 5 passive DOFs for rehabilitation of stroke survivors. Emphasis has been laid on making the model light weight and more ergonomic. Thus, concentration is mainly on 3D modeling of that device so that the mechatronic approach is compatible with human hand. The main choice of material for fabrication has been Nylon 6/10, owing to its lightweight and durable properties. The model was developed completely by the use of Computer Aided Design (CAD) and Computer Aided Engineering (CAE). Our model focuses on proposing a new actuation principle for better development of ergonomic shoulder design by incorporation of compliant passive springs and one passive revolute joint. Joints of the exoskeleton have been taken as simple revolute, possessing desired motion limits. Also forward kinematics has been established and the general workspace of the model has been developed. � 2019 IEEE.
URI: http://idr.nitk.ac.in/jspui/handle/123456789/7193
Appears in Collections:2. Conference Papers

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