Paper Info
Title
Structure design and analysis of compliant human-machine interface mechanism for exoskeletons
Abstract
Due to the difference between kinematics of human joints and exoskeleton joints, joint misalignment may be brought about by human-machine interface (HMI). Joint misalignment may lead to undesired interaction forces, if not copped with properly, e.g. in the HMI mechanism with straps. In this paper, firstly the interaction forces caused by joint misalignment in HMI mechanism with straps are studied. Then, a compliant HMI mechanism which consists of passive mechanical linkages is presented and Degrees of Freedom (DOFs) of the whole human-machine system are analyzed. A simulation model of human-machine system is established for analyzing the interaction forces in the compliant HMI mechanism. Finally, comparative results were obtained to demonstrate that the constraint forces can be decreased greatly with sufficient driving forces simultaneously by using of the compliant HMI mechanism.
Year
DOI
Venue
2017
10.1109/ARSO.2017.8025207
2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)
Keywords
Field
DocType
driving forces,constraint forces,human-machine system,passive mechanical linkage,compliant HMI mechanism,undesired interaction forces,joint misalignment,exoskeleton joint kinematics,human joint kinematics,exoskeletons,compliant human-machine interface mechanism,structure analysis,structure design
Linkage (mechanical),Kinematics,Simulation,Computer science,Structure design,Solid modeling,Exoskeleton,Human–machine interface,Interaction forces
Conference
ISSN
ISBN
Citations 
2162-7568
978-1-5090-0476-8
0
PageRank 
References 
Authors
0.34
4
7
Name
Order
Citations
PageRank
Qihuan Zhu100.68
Zailiang Chen2439.10
Weida Li301.69
Xiaowei Cai400.68
xiao zhang510330.75
Hongmiao Zhang600.68
Juan Li71715.21