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Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

1
School of Mechatronical Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District, Beijing 100081, China
2
Harbin Jiancheng Group Co., Ltd., 65 Nanzhi Road, Xiangfang District, Harbin 150030, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2018, 8(3), 464; https://doi.org/10.3390/app8030464
Received: 22 February 2018 / Revised: 13 March 2018 / Accepted: 13 March 2018 / Published: 17 March 2018
(This article belongs to the Section Mechanical Engineering)
The contradiction between self-weight and load capacity of a power-assisted upper-limb exoskeleton for material hanging is unresolved. In this paper, a non-anthropomorphic 3-degree of freedom (DOF) upper-limb exoskeleton with an internally rotated elbow joint is proposed based on an anthropomorphic 5-DOF upper-limb exoskeleton for power-assisted activity. The proposed 3-DOF upper-limb exoskeleton contains a 2-DOF shoulder joint and a 1-DOF internally rotated elbow joint. The structural parameters of the 3-DOF upper-limb exoskeleton were determined, and the differences and singularities of the two exoskeletons were analyzed. The workspace, the joint torques and the power consumption of two exoskeletons were analyzed by kinematics and dynamics, and an exoskeleton prototype experiment was performed. The results showed that, compared with a typical anthropomorphic upper-limb exoskeleton, the non-anthropomorphic 3-DOF upper-limb exoskeleton had the same actual workspace; eliminated singularities within the workspace; improved the elbow joint force situation; and the maximum elbow joint torque, elbow external-flexion/internal-extension and shoulder flexion/extension power consumption were significantly reduced. The proposed non-anthropomorphic 3-DOF upper-limb exoskeleton can be applied to a power-assisted upper-limb exoskeleton in industrial settings. View Full-Text
Keywords: upper-limb exoskeleton; power-assisted; material hanging; workspace; non-anthropomorphic upper-limb exoskeleton; power-assisted; material hanging; workspace; non-anthropomorphic
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MDPI and ACS Style

Wang, X.; Song, Q.; Wang, X.; Liu, P. Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint. Appl. Sci. 2018, 8, 464.

AMA Style

Wang X, Song Q, Wang X, Liu P. Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint. Applied Sciences. 2018; 8(3):464.

Chicago/Turabian Style

Wang, Xin; Song, Qiuzhi; Wang, Xiaoguang; Liu, Pengzhan. 2018. "Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint" Appl. Sci. 8, no. 3: 464.

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