Analysis and Redesign of an Elbow Exoskeleton Joint to Improve & Human-Exoskeleton Interaction
Authors
Term
4. term
Education
Publication year
2018
Submitted on
2018-06-01
Pages
105
Abstract
This project investigates how to improve the human-exoskeleton interaction. It was initially believed that the interaction would be improved by creating a light and stiff redesign of the exoskeleton using composite materials. It was discovered during strain gauge measurements on the previous design generation that the rigidity instead caused discomfort. A new design accommodating the natural movements of the forearm was instead sought. Further experiments verified that an increase in compliance also increased the comfort felt by test subjects. The improved ergonomics were achieved by creating a new design which incorporated an aluminium sliding mechanism with a carbon fibre support structure. The final design can elongate a total of 30 mm along the length of the forearm. The new design maintained relatively low weight - approximately 44 gram heavier, while enabling enhanced user interaction through compliance. The new design was created in a manner such that it could be attached directly onto the previous design generation.
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