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• W2897037706 abstract "Exoskeletons strive to help during the rehabilitation of neurological patients or to support people performing work of high physical effort. Common orthoses or exoskeletons represent the elbow joint by a simple revolute joint. However, the actual movement of gliding bones is a three dimensional motion. In order to prevent kinematic incompatibilities, we propose an automated process to manufacture individual joints. This paper describes a mathematical model of the elbow movement with two degrees of freedom (DoF), which also considers soft tissue movement and the changing angle between upper arm and forearm (carrying angle). The measurement of the flexion-extension movement for seven participants indicated that there are highly individual movement characteristics. We introduced a design process for individual joints which consists of several steps. First of all, the motion of the elbow joint was captured using an electromagnetic tracking system, then the data was processed, and an individual cam mechanism was synthesized. These calculated parameters were transferred to a parametric construction, and the exoskeleton was produced using additive manufacturing. Our experiment showed that the individual joint represented the soft tissue movement and changing of the carrying angle, but it partly suppressed the hysteresis between the flexion and extension movement." @default.
• W2897037706 created "2018-10-26" @default.
• W2897037706 creator A5004716669 @default.
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• W2897037706 date "2018-08-01" @default.
• W2897037706 modified "2023-10-17" @default.
• W2897037706 title "Towards an Ergonomic Exoskeleton Structure: Automated Design of Individual Elbow Joints" @default.
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• W2897037706 doi "https://doi.org/10.1109/biorob.2018.8488128" @default.
• W2897037706 hasPublicationYear "2018" @default.
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