Abstract
If a wheelchair could be considered as a better solution than an exoskeleton for the mobility of people suffering from neuromuscular diseases, there is a relevance to use a soft wearable exoskeleton (or exosuit) to assist the upper limbs in order to perform daily tasks such as having a drink, a pencil. It is imperative to limit the stresses generated by the exosuit on human. Numerical tests are proposed to investigate the possible technology choices to design the exoskeleton to limit these stresses. These numerical tests are based on the study of the inverse dynamic model of the human arm and its exosuit. A trajectory of the hand is defined and we deduce the cable tension to track this trajectory. Two decoupled planes are considered for the numerical tests, the sagittal plane where a flexion of the forearm with respect to the upper arm, and the frontal plane where abduction and adduction movements are possible. We assume that the human arm cannot provide any effort. The results show that the position of the anchor points at the shoulder and the orientation of the cable for the abduction movement have an influence to limit the stresses. However, these stresses are important on the shoulder.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Aoustin, Y., Formalskii, A.M.: Strategy to lock the knee of exoskeleton stance leg: study in the framework of ballistic walking model. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodic, A. (eds.) New Trends in Medical and Service Robots: Human Walking, 275p (2016)
Bennett, B., Hollerbach, J.M., Xu, Y., Hunter, I.: Time-varying stiffness of human elbow joint during cyclic voluntary movement. Exp. Brain Res. 88(2), 433–1442 (1992)
Cappelo, L., Khanh Binh, D., Yen, S.C., Masiai, L.: Design and preliminary characterization of a soft wearable exoskeleton for upper limb. In: Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 623–629, June 26–29, UTown, Singapore (2016)
Dinh, B.K., Xiloyannis, M., Antuvan, C.W., Cappello, L., Masia, L.: Hierarchical cascade controller for assistance modulation in a soft wearable arm exoskeleton. IEEE Robot. Autom. Lett. 2(3), 1786–1793 (2017)
Gunn, M., Shank, T.M., Epps, M., Hossain, J., Rahman, T.: User evaluation of a dynamic orthosis for people with neuromuscular disorders. IEEE Trans. Neural Syst. Rehabil. Eng. 24(12), 1277–1283 (2016)
Herr, H.: Exoskeletons and orthoses: classification, design, design challenges and future directions. J. NeuroEngineering Rehabil. 6(21), 1–9 (2009). https://doi.org/10.1186/1743-0003-6-21
Khalil, W., Dombre, E.: Modeling, Identification and Control of Robots. Butterworth Heinemann (2002)
Ktistakis, I.P., Bourbakis, N.G.: A survey on robotic wheelchairs mounted with robotic arms. In: Proceedings of the National Aerospace and Electronics Conference (NAECON), pp. 258–262 (2015)
Perry, J.C., Rosen, J., Burns, S.: Upper-limb powered exoskeleton design. IEEE/ASM Trans. Mechatron. 12(4), 408–417 (2007)
Rupala, B.S., Singla, A., Virk, G.S.: Lower limb exoskeletons: a brief review. In: Proceedings of the International Conference on Mechanical Engineering & Technology COMET, pp. 18–24, Varanasi, Utter Pradesh (2016)
Winter, D.A.: Biomechanics and Motor Control of Human Movement. Wiley (2009)
Zhang, Y.: Design and optimization of a new robotic suit for load carriage via coupling cables and a rigid support. PhD thesis, INSA RENNES France (2019)
Zhang, Y., Arakelian, V.: Design of a passive robotic exosuit for carrying heavy loads. In: Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids), pp. 860–865, Beijing, China (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Langard, M., Aoustin, Y., Arakelian, V., Chablat, D. (2020). Investigation of the Stresses Exerted by an Exosuit of a Human Arm. In: Misyurin, S., Arakelian, V., Avetisyan, A. (eds) Advanced Technologies in Robotics and Intelligent Systems. Mechanisms and Machine Science, vol 80. Springer, Cham. https://doi.org/10.1007/978-3-030-33491-8_50
Download citation
DOI: https://doi.org/10.1007/978-3-030-33491-8_50
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-33490-1
Online ISBN: 978-3-030-33491-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)