Name
Title | ||
|---|---|---|
Development of a Twisted String Actuator-based Exoskeleton for Hip Joint Assistance in Lifting Tasks |
Abstract | ||
|---|---|---|
This paper presents a study on a compliant cable-driven exoskeleton for hip assistance in lifting tasks that is aimed at preventing low-back pain and injuries in the vocational setting. In the proposed concept, we used twisted string actuator (TSA) to design a light-weight and powerful exoskeleton that benefits from inherent TSA advantages. We have noted that nonlinear nature of twisted strings’ transmission ratio (decreasing with twisting) closely matched typical torque-speed requirements for hip assistance during lifting tasks and tried to use this fact in the exoskeleton design and motor selection. Hip-joint torque and speed required to lift a 10-kg load from stoop to stand were calculated, which gave us a baseline that we used to design and manufacture a practical exoskeleton prototype. Preliminary experimental trials demonstrated that the proposed device was capable of generating required torque and speed at the hip joint while weighing under 6 kg, including battery. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197359 | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | DocType | Volume |
twisted string actuator-based exoskeleton,hip joint assistance,compliant cable-driven exoskeleton,injuries,vocational setting,powerful exoskeleton,inherent TSA advantages,typical torque-speed requirements,exoskeleton design,motor selection,practical exoskeleton prototype | Conference | 2020 |
Issue | ISSN | ISBN |
1 | 1050-4729 | 978-1-7281-7396-2 |
Citations | PageRank | References |
1 | 0.43 | 2 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| HyeonSeok Seong | 1 | 1 | 0.77 |
| Do-Hyeong Kim | 2 | 1 | 1.45 |
| Igor Gaponov | 3 | 15 | 6.69 |
| Jee-Hwan Ryu | 4 | 617 | 66.11 |