2010 Design of Medical Devices Conference Abstracts

Gravity Balancing Conditions for an Upper Arm Exoskeleton PUBLIC ACCESS

[+] Author and Article Information
Venketesh Dubey

Bournemouth University

Sunil Agrawal

University of Delaware

J. Med. Devices 4(2), 027511 (Aug 09, 2010) (1 page) doi:10.1115/1.3442754 History: Published August 09, 2010; Online August 09, 2010


An upper-arm wearable exoskeleton has been designed for assistance and functional training of humans. One of the goals of this design is to provide passive assistance to a user by gravity balancing, while keeping the transmitted forces to the shoulder joints at a minimum. Consistent with this goal, this paper addresses the following questions: (i) an analytical study of gravity balancing design conditions for the structure of the human arm, (ii) minimization of transmitted shoulder joint forces while satisfying the gravity balancing conditions, and (iii) possible implementation of these conditions into practical designs using zero-free length springs.

Copyright © 2010 by American Society of Mechanical Engineers
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