Paper Info
Title
Exoskeleton Arm Pronation/Supination Assistance Mechanism With A Guided Double Rod System
Abstract
The wrist pronation and supination movement is important in everyday manipulation tasks. Users with limitations in this particular movement have severe impairment. While advanced upper-arm exoskeletons can assist in the pronation/supination movement, typically, the resulting exoskeleton frame that combines both the elbow joint and pronation/supination mechanism becomes heavy and bulky with a large volume. We propose a new arm pronation supination mechanism that is integrated into the exoskeleton frame and has a reduced weight and volume penalty. The mechanism functions via a double rod system, where the rods are guided through a set of specially shaped grooves that finally result in the rotation of the wrist component. The paper presents a plastic rapid prototype built using 3D additive technologies. The mechanism is actuated via a Bowden cable transmission. Its underlying kinematics are experimentally evaluated using an external motion capture system to identify its advantages and disadvantages.
Year
DOI
Venue
2019
10.1109/Humanoids43949.2019.9034992
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Keywords
DocType
ISSN
upper-arm exoskeletons,exoskeleton frame,elbow joint,arm pronation supination mechanism,guided double rod system,wrist pronation,manipulation tasks,double rod system,3D additive technologies,Bowden cable transmission,plastic rapid prototype
Conference
2164-0572
ISBN
Citations 
PageRank 
978-1-5386-7631-8
0
0.34
References 
Authors
7
4
Name
Order
Citations
PageRank
Miha Dezman100.34
tamim asfour21889151.86
Ales Ude389885.11
Andrej Gams438529.54