Archive for Февраль 6th, 2011

Exoskeletal Spine and Shoulders for Full Body Exoskeletons in Health Care

Дата: Февраль 6th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6623
  • Название документа: Exoskeletal Spine and Shoulders for Full Body Exoskeletons in Health Care
  • Номер (DOI, IBSN, Патент): 0976-8610
  • Изобретатель/автор: Stefan Roland Taal, Yoshiyuki Sankai
  • Правопреемник/учебное заведение: Cybernics Research Building, Graduate School of Systems and Information Engineering, University of Tsukuba
  • Дата публикации документа: 2011-02-06
  • Страна опубликовавшая документ: Япония
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Pelagia Research Library
  • Вложения: Да
  • Аналитик: Глаголева Елена

Currently, full body exoskeletons still lack movabili-ty in their back and shoulder parts, resulting in limited applicability in, e.g., nursing care. An exoske-letal spine and shoulder mechanism called “exo-spine” has therefore been developed with the purpose of allowing 3 degree of freedom (DOF) spinal motion and 2 DOF shoulder girdle abduction. It consists of a mechanism of vertebras, shoulder blades, and two cables for actuation such that only one motor is requir-ed. Control equations were obtained through measurements and friction analysis. Experiments were performed with a subject wearing the exo-spine in a simplified full body exoskeleton. The wearer was able to lift up to 40 kg using all DOF of the system. From this we confirmed the exo-spine’s 5 DOF movability and lifting performance. Next, the exo-spine will be installed in HAL exoskeletons in order to increase their usabili-ty in health care settings.

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