Paper Info
Title
A preliminary study on a twisted strings-based elbow exoskeleton
Abstract
This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.
Year
DOI
Venue
2013
10.1109/WHC.2013.6548455
World Haptics Conference
Keywords
Field
DocType
actuators,haptic interfaces,human-robot interaction,medical robotics,mobile robots,robot kinematics,telerobotics,DOF,haptic application,human intention detection method,intrinsic compliance,joint actuation mechanism,kinematic model,rehabilitation application,teleoperation,twisted strings-based actuator,twisted strings-based elbow exoskeleton,H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O,I.2.9 [Artificial Intelligence]: Robotics-Kinematics and dynamics
Kinematics,Computer science,Control engineering,Exoskeleton,Artificial intelligence,Haptic technology,Teleoperation,Computer vision,Simulation,Robot kinematics,Telerobotics,Mobile robot,Actuator
Conference
ISBN
Citations 
PageRank 
978-1-4799-0087-9
2
0.56
References 
Authors
3
3
Name
Order
Citations
PageRank
Dmitry Popov1176.68
Igor Gaponov2156.69
Jee-Hwan Ryu361766.11