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Increasing Payload Capacity of Wearable Robots Employing Linear Actuators and Elastic Mechanism

Title
Increasing Payload Capacity of Wearable Robots Employing Linear Actuators and Elastic Mechanism
Author
박종현
Keywords
Wearable robot; Exoskeleton; Linear actuator; Moment arm; Payload capacity; Elastic mechanism
Issue Date
2017-05
Publisher
KOREAN SOC PRECISION ENG
Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, no. 5, page. 661-671
Abstract
In military and industrial applications, wearable robots should meet the required payload capacity in all human motion range owing to dealing with heavy loads, which is safety and work performance issues. But, the payload capacity of wearable robots employing linear actuators gradually decreases while the pilot bends his knees with a stand-to-sit motion, because the moment arm of actuating force varies and decreases drastically. To deal with this issue, this study proposes an elastic mechanism combined with a sub-link mechanism to increase the moment arm of the elastic force in the knee-flexion posture. This mechanism generates additional torque to supplement the force needed during sit-to-stand and stand-to-sit motions with heavy loads. The proposed mechanism was simulated and tested with a wearable robot, and its effectiveness was verified.
URI
https://link.springer.com/article/10.1007%2Fs12541-017-0079-3http://repository.hanyang.ac.kr/handle/20.500.11754/114125
ISSN
2234-7593; 2005-4602
DOI
10.1007/s12541-017-0079-3
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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