This exoskeleton is aimed at assisting the upper limbs. Two motors placed on the user's back drive the Bowden cables to provide the necessary torque to the user's joints. This way, the exoskeleton compensates for the weight of the user's arm or the tool the user currently holds in his or her hand. The two videos on the right demostrate the proposed device.
With the motor and battery located in the back, the frame of the exoskeleton remains light and has minimal inertia. This also allows the exoskeleton to move faster and may help with faster tasks such as throwing and knocking. Additionally, the exoskeleton uses many components that are manufactured using traditional and additive manufacturing methods. While Bowden cables allow for lightweight frame designs, they worsen the overall friction and efficiency of the system. This research explores the use of Bowden cables and explores solutions to mittigate this problem. Aditionally, the exoskeleton system implements several redundant sensor architectures to explore alternative sensing techniques for both internal and external exoskeleton parameters.
The results of this research are published in:
Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton
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