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Powered exoskeletons can facilitate after-stroke rehabilitation of patients with shoulder disabilities. Designs using serial mechanisms usually result in complicated and bulky exoskeletons. This paper presents a new parallel actuated shoulder exoskeleton that consists of two spherical mechanisms, two slider crank mechanisms, and a gravity balancing mechanism. The actuators are grounded and placed...
A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
After-stroke rehabilitation of patients with shoulder disabilities traditionally requires repeated and progressive training exercises. Complete recovery is usually costly and lengthy. Aimed at reducing the cost and time of shoulder rehabilitation, powered exoskeletons are developed to provide automatic and steady rehabilitation training. Our previously developed shoulder exoskeleton is small-size,...
Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers...
Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Compared with lower limb exoskeletons, upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient augmentation force. Designs using serial mechanisms usually result in complicated and bulky exoskeletons that prevent themselves from being wearable. This...
A machine with large output stiffness variation can meet the requirement in different working environments. This paper presents an approach to design a linear variable-stiffness mechanism (LVSM) with adjustable zero-to-infinite stiffness. The idea is to use circular slots to adjust the initial rotation of two parallel connected springs. The output force to displacement curve can exhibit zero to very...
Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents...
Stroke recovery requires intensive and continuous rehabilitation over a long period of time. Access to existing rehabilitation devices is limited to hospitals due to the considerable cost and maintenance. This paper proposes a lightweight, low-cost gravity-balanced exoskeleton for home rehabilitation of upper limbs. Gravity balancing is based on a two-bar mechanism that can fit the periphery of a...
It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those...
Force regulation is a challenging issue of robot end-effectors when interacting with unknown environments. It often requires sophisticated sensors with computerized control. This paper presents a constant-force mechanism (CFM) to regulate the contact force of a robot end-effector. The proposed CFM is a monolithic compliant mechanism that has no frictional wear and is capable of miniaturization. Due...
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