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http://dx.doi.org/10.3795/KSME-A.2017.41.6.469

Exoskeleton Based on Counterbalance Mechanism for Arm Strength Assistance  

Lee, Won Bum (Mechanical Engineering, Korea Univ.)
Song, Jae-Bok (Mechanical Engineering, Korea Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.41, no.6, 2017 , pp. 469-475 More about this Journal
Abstract
Workers in industrial fields are highly exposed to accidents or injuries caused by long working hours. An exoskeleton that is able to support the arm muscles of the worker and thereby reduce the probability of an accident and enhance working efficiency could be a solution to this problem. However, existing exoskeletons demand the use of high-priced sensors and motors, which makes them difficult to use in industrial fields. To solve this problem, we developed an arm assisting exoskeleton that consists only of mechanical components without any electronic sensors or motors. The exoskeleton follows the movement of the human arm by shoulder joint and ankle joint. In addition, counterbalance mechanisms are installed on the exoskeleton to support arm strength. The experimental validation of the exoskeleton was conducted using an EMG sensor, confirming the performance of the exoskeleton.
Keywords
Passive Gravity Compensation; Multi-DOF Counterbalance Mechanism; Adjustable Counterbalance; Exoskeleton;
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