Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Twisted String-based Upper Limb Exoskeleton

줄꼬임에 기반한 상지 외골격 로봇

  • Lee, Seung-Jun (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Ryu, Jee-Hwan (School of Mechanical Engineering, Korea University of Technology and Education)
  • 이성준 (한국기술교육대학교 기계공학과) ;
  • 유지환 (한국기술교육대학교 기계공학과)
  • Received : 2016.06.30
  • Accepted : 2016.09.22
  • Published : 2016.11.01
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Abstract

This paper proposes a new concept of a soft and wearable upper-limb exoskeleton. A novel actuation principle, called the twisted string actuation principle, is implemented to make it lightweight, soft, and therefore easily wearable. Its power transmission mechanism and harness are designed to be soft and wearable, yet have enough control accuracy for rehabilitation. In addition to force transmission optimization, a speed enlargement mechanism is newly introduced in order to increase the contraction speed of the twisted string actuation mechanism by sacrificing the unnecessarily large gear reduction ratio of the twisted string mechanism. A prototype has been tested for mirroring therapy, and the feasibility of the proposed mechanism has been shown through a sufficiently accurate tracking performance.

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References

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