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Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
,
Daniele Cafolla ,
Francesco Lago,
Eduardo Castillo-Castañeda,
Giuseppe Carbone
Journal of Bionic Engineering, Volume: 21, Issue: 1, Pages: 236 - 255
Swansea University Authors:
Betsy Dayana Marcela Chaparro Rico , Daniele Cafolla
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DOI (Published version): 10.1007/s42235-023-00445-8
Abstract
This paper proposes a new upper-limb exoskeleton to reduce worker physical strain. The proposed design is based on a novel PRRRP (P-Prismatic; R-Revolute) kinematic chain with 5 passive Degrees of Freedom (DoF). Utilizing a magnetic spring, the proposed mechanism includes a specially designed lockin...
| Published in: | Journal of Bionic Engineering |
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| ISSN: | 1672-6529 2543-2141 |
| Published: |
Springer Science and Business Media LLC
2024
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa67784 |
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| Abstract: |
This paper proposes a new upper-limb exoskeleton to reduce worker physical strain. The proposed design is based on a novel PRRRP (P-Prismatic; R-Revolute) kinematic chain with 5 passive Degrees of Freedom (DoF). Utilizing a magnetic spring, the proposed mechanism includes a specially designed locking mechanism that maintains any desired task posture. The proposed exoskeleton incorporates a balancing mechanism to alleviate discomfort and spinal torsional effects also helping in limb weight relief. This paper reports specific models and simulations to demonstrate the feasibility and effectiveness of the proposed design. An experimental characterization is performed to validate the performance of the mechanism in terms of forces and physical strain during a specific application consisting of ceiling-surface drilling tasks. The obtained results preliminarily validate the engineering feasibility and effectiveness of the proposed exoskeleton in the intended operation task thereby requiring the user to exert significantly less force than when not wearing it. |
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| College: |
Faculty of Science and Engineering |
| Funders: |
This work was supported by the European Regional Development Fund and the Romanian Government through the Competitiveness Operational Programme 2014–2020, project APOLLO, MySMIS code 155988, contract no.9/1.2.1-PTI-ap.2/23.02.2023. The first author thankfully acknowledges CONACYT for the financial support for his studies at Instituto Politécnico Nacional and at the University of Calabria within a double PhD degree agreement under the co-supervision of Prof. Eduardo Castillo-Castañeda and Prof. Giuseppe Carbone. |
| Issue: |
1 |
| Start Page: |
236 |
| End Page: |
255 |