Cargando…
Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton
This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payloa...
Autores principales: | , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8231107/ https://www.ncbi.nlm.nih.gov/pubmed/34208291 http://dx.doi.org/10.3390/s21124037 |
_version_ | 1783713353986736128 |
---|---|
author | Yun, Junghwan Kang, Ohhyun Joe, Hyun-Min |
author_facet | Yun, Junghwan Kang, Ohhyun Joe, Hyun-Min |
author_sort | Yun, Junghwan |
collection | PubMed |
description | This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer’s required torque by easily applying it to the cam–follower structure was developed. An exoskeleton dynamic equation that can calculate a person’s required joint torque given the required payload and the wearer’s posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam–follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton. |
format | Online Article Text |
id | pubmed-8231107 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-82311072021-06-26 Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton Yun, Junghwan Kang, Ohhyun Joe, Hyun-Min Sensors (Basel) Communication This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer’s required torque by easily applying it to the cam–follower structure was developed. An exoskeleton dynamic equation that can calculate a person’s required joint torque given the required payload and the wearer’s posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam–follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton. MDPI 2021-06-11 /pmc/articles/PMC8231107/ /pubmed/34208291 http://dx.doi.org/10.3390/s21124037 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Communication Yun, Junghwan Kang, Ohhyun Joe, Hyun-Min Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title | Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title_full | Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title_fullStr | Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title_full_unstemmed | Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title_short | Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton |
title_sort | design of a payload adjustment device for an unpowered lower-limb exoskeleton |
topic | Communication |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8231107/ https://www.ncbi.nlm.nih.gov/pubmed/34208291 http://dx.doi.org/10.3390/s21124037 |
work_keys_str_mv | AT yunjunghwan designofapayloadadjustmentdeviceforanunpoweredlowerlimbexoskeleton AT kangohhyun designofapayloadadjustmentdeviceforanunpoweredlowerlimbexoskeleton AT joehyunmin designofapayloadadjustmentdeviceforanunpoweredlowerlimbexoskeleton |