TY - GEN
T1 - Towards an Ergonomic Exoskeleton Structure
T2 - 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
AU - Hein, Christina M.
AU - Maroldt, Paul A.
AU - Brecht, Sandra V.
AU - Oezgoecen, Handan
AU - Lueth, Tim C.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/9
Y1 - 2018/10/9
N2 - Exoskeletons strive to help during the rehabilitation of neurological patients or to support people performing work of high physical effort. Common orthoses or exoskeletons represent the elbow joint by a simple revolute joint. However, the actual movement of gliding bones is a three dimensional motion. In order to prevent kinematic incompatibilities, we propose an automated process to manufacture individual joints. This paper describes a mathematical model of the elbow movement with two degrees of freedom (DoF), which also considers soft tissue movement and the changing angle between upper arm and forearm (carrying angle). The measurement of the flexion-extension movement for seven participants indicated that there are highly individual movement characteristics. We introduced a design process for individual joints which consists of several steps. First of all, the motion of the elbow joint was captured using an electromagnetic tracking system, then the data was processed, and an individual cam mechanism was synthesized. These calculated parameters were transferred to a parametric construction, and the exoskeleton was produced using additive manufacturing. Our experiment showed that the individual joint represented the soft tissue movement and changing of the carrying angle, but it partly suppressed the hysteresis between the flexion and extension movement.
AB - Exoskeletons strive to help during the rehabilitation of neurological patients or to support people performing work of high physical effort. Common orthoses or exoskeletons represent the elbow joint by a simple revolute joint. However, the actual movement of gliding bones is a three dimensional motion. In order to prevent kinematic incompatibilities, we propose an automated process to manufacture individual joints. This paper describes a mathematical model of the elbow movement with two degrees of freedom (DoF), which also considers soft tissue movement and the changing angle between upper arm and forearm (carrying angle). The measurement of the flexion-extension movement for seven participants indicated that there are highly individual movement characteristics. We introduced a design process for individual joints which consists of several steps. First of all, the motion of the elbow joint was captured using an electromagnetic tracking system, then the data was processed, and an individual cam mechanism was synthesized. These calculated parameters were transferred to a parametric construction, and the exoskeleton was produced using additive manufacturing. Our experiment showed that the individual joint represented the soft tissue movement and changing of the carrying angle, but it partly suppressed the hysteresis between the flexion and extension movement.
UR - http://www.scopus.com/inward/record.url?scp=85056596406&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2018.8488128
DO - 10.1109/BIOROB.2018.8488128
M3 - Conference contribution
AN - SCOPUS:85056596406
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 646
EP - 652
BT - BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PB - IEEE Computer Society
Y2 - 26 August 2018 through 29 August 2018
ER -