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http://dx.doi.org/10.5916/jkosme.2012.36.4.467

Structure Analysis of an Exoskeleton with a Torsion Bar Gravity Compensator  

Choi, Hyeong-Sik (한국해양대학교 기계시스템공학과)
Lee, Dong-Jun (한국해양대학교 기계시스템공학과)
Jo, Jong-Rae (한국해양대학교 기계시스템공학과)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.36, no.4, 2012 , pp. 467-475 More about this Journal
Abstract
In this paper, a technical method of reducing torque load of exoskeleton device, with using of a gravity compensator based on a torsion bar, for human leg joints, is proposed. Design and structure analyses and also performance test were performed to estimate and to measure the characteristics of the torsion bar. On the basis of design and structure analysis, a new light and compact exoskeleton device has been developed. For the purpose of lightening and optimizing thickness of the links, FEM analysis has been performed.
Keywords
Tortion bar; Gravity compensator; Exoskeleton; FEM analysis;
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