Exo-skeletons are wearable robots which have been developed in an ergonomically designed way to assist human activities. The muscular strength of the human during continuous duty of activity can be enhanced by the exo-skeleton design and minimum human effort. There are numerous exo-skeleton applications such as medical rehabilitation, industrial work, military, elderly assistance, sports, fitness, space exploration, and agriculture. Exo-skeleton devices are human assistive equipment which are closely related to the support for human body motions. Due to this relation, the exo-skeleton has to be designed in an ergonomic way. In this research work, a human exoskeleton model is designed and analyzed for the adjustable four bar mechanism applicable to a range of anthropometry variance. This mechanism is subjected to dimensional synthesis and the evaluation is performed for the anthropometry variance. Using the GIM® mechanism software, the proposed design is compared with the existing design for modeling, and analysis. Dimensional scaling is performed for the design of the exo-skeleton mechanism in order to use the model to support the human in various activities. Performance metrics are identified on the exo-skeleton design and compared with the existing models focusing on the human factors in anthropometry.

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Design and Analysis of Wearable Lower-Limb Exo-Skeleton Mechanism Using Adjustable Four Bar Chain

  • Rajkumar Gothandaraman,
  • Sreekumar Muthuswamy

摘要

Exo-skeletons are wearable robots which have been developed in an ergonomically designed way to assist human activities. The muscular strength of the human during continuous duty of activity can be enhanced by the exo-skeleton design and minimum human effort. There are numerous exo-skeleton applications such as medical rehabilitation, industrial work, military, elderly assistance, sports, fitness, space exploration, and agriculture. Exo-skeleton devices are human assistive equipment which are closely related to the support for human body motions. Due to this relation, the exo-skeleton has to be designed in an ergonomic way. In this research work, a human exoskeleton model is designed and analyzed for the adjustable four bar mechanism applicable to a range of anthropometry variance. This mechanism is subjected to dimensional synthesis and the evaluation is performed for the anthropometry variance. Using the GIM® mechanism software, the proposed design is compared with the existing design for modeling, and analysis. Dimensional scaling is performed for the design of the exo-skeleton mechanism in order to use the model to support the human in various activities. Performance metrics are identified on the exo-skeleton design and compared with the existing models focusing on the human factors in anthropometry.