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Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing

Jhon F. Rodríguez-León, Betsy Dayana Marcela Chaparro Rico Orcid Logo, Daniele Cafolla Orcid Logo, Francesco Lago, Eduardo Castillo-Castañeda, Giuseppe Carbone Orcid Logo

Journal of Bionic Engineering, Volume: 21, Issue: 1, Pages: 236 - 255

Swansea University Authors: Betsy Dayana Marcela Chaparro Rico Orcid Logo, Daniele Cafolla Orcid Logo

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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...

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Published in: Journal of Bionic Engineering
ISSN: 1672-6529 2543-2141
Published: Springer Science and Business Media LLC 2024
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URI: https://cronfa.swan.ac.uk/Record/cronfa67784
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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. 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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.</funders><projectreference/><lastEdited>2024-10-18T13:57:14.8925483</lastEdited><Created>2024-09-25T16:26:16.2904816</Created><path><level id="1">Faculty of Science and Engineering</level><level id="2">School of Mathematics and Computer Science - Computer Science</level></path><authors><author><firstname>Jhon F.</firstname><surname>Rodríguez-León</surname><order>1</order></author><author><firstname>Betsy Dayana Marcela</firstname><surname>Chaparro Rico</surname><orcid>0000-0002-6874-2508</orcid><order>2</order></author><author><firstname>Daniele</firstname><surname>Cafolla</surname><orcid>0000-0002-5602-1519</orcid><order>3</order></author><author><firstname>Francesco</firstname><surname>Lago</surname><order>4</order></author><author><firstname>Eduardo</firstname><surname>Castillo-Castañeda</surname><order>5</order></author><author><firstname>Giuseppe</firstname><surname>Carbone</surname><orcid>0000-0003-0831-8358</orcid><order>6</order></author></authors><documents><document><filename>67784__32645__c8eb5d3bdb8949c0bef0ca03e69f1fc4.pdf</filename><originalFilename>67784.VoR.pdf</originalFilename><uploaded>2024-10-18T13:54:24.9977304</uploaded><type>Output</type><contentLength>3991802</contentLength><contentType>application/pdf</contentType><version>Version of Record</version><cronfaStatus>true</cronfaStatus><documentNotes>© The Author(s) 2023. 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spelling v2 67784 2024-09-25 Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing fab062f51ecae36a295bd5c53e03fef5 0000-0002-6874-2508 Betsy Dayana Marcela Chaparro Rico Betsy Dayana Marcela Chaparro Rico true false ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2024-09-25 MACS 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. Journal Article Journal of Bionic Engineering 21 1 236 255 Springer Science and Business Media LLC 1672-6529 2543-2141 1 1 2024 2024-01-01 10.1007/s42235-023-00445-8 COLLEGE NANME Mathematics and Computer Science School COLLEGE CODE MACS Swansea University Another institution paid the OA fee 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. 2024-10-18T13:57:14.8925483 2024-09-25T16:26:16.2904816 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Jhon F. Rodríguez-León 1 Betsy Dayana Marcela Chaparro Rico 0000-0002-6874-2508 2 Daniele Cafolla 0000-0002-5602-1519 3 Francesco Lago 4 Eduardo Castillo-Castañeda 5 Giuseppe Carbone 0000-0003-0831-8358 6 67784__32645__c8eb5d3bdb8949c0bef0ca03e69f1fc4.pdf 67784.VoR.pdf 2024-10-18T13:54:24.9977304 Output 3991802 application/pdf Version of Record true © The Author(s) 2023. This article is licensed under a Creative Commons Attribution 4.0 International License. true eng http://creativecommons.org/licenses/by/4.0/
title Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
spellingShingle Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
Betsy Dayana Marcela Chaparro Rico
Daniele Cafolla
title_short Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
title_full Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
title_fullStr Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
title_full_unstemmed Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
title_sort Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing
author_id_str_mv fab062f51ecae36a295bd5c53e03fef5
ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv fab062f51ecae36a295bd5c53e03fef5_***_Betsy Dayana Marcela Chaparro Rico
ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Betsy Dayana Marcela Chaparro Rico
Daniele Cafolla
author2 Jhon F. Rodríguez-León
Betsy Dayana Marcela Chaparro Rico
Daniele Cafolla
Francesco Lago
Eduardo Castillo-Castañeda
Giuseppe Carbone
format Journal article
container_title Journal of Bionic Engineering
container_volume 21
container_issue 1
container_start_page 236
publishDate 2024
institution Swansea University
issn 1672-6529
2543-2141
doi_str_mv 10.1007/s42235-023-00445-8
publisher Springer Science and Business Media LLC
college_str Faculty of Science and Engineering
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hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description 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.
published_date 2024-01-01T13:57:13Z
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