Multijoint passive elastic spine exoskeleton for stoop lifting assistance
In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298814211062033 |
| _version_ | 1819289969116577792 |
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| author | Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou |
| author_facet | Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou |
| author_sort | Jiyuan Song |
| collection | DOAJ |
| description | In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the natural movement of the human body, thereby causing ergonomic risks. This article proposes a back exoskeleton composed of multiple elastic spherical hinges inspired by the biological spine. This spine exoskeleton can assist in the process of bending the body and ensure flexibility. We deduced the kinematics model of this mechanism and established an analytical biomechanical model of human–robot interaction. The mechanism of joint assistance of the spine exoskeleton was discussed, and experiments were conducted to verify the flexibility of the spine exoskeleton and the effectiveness of the assistance during bending. |
| first_indexed | 2024-12-24T03:15:17Z |
| format | Article |
| id | doaj.art-a94a1e33a8c641a08982eb0efd5c989e |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-24T03:15:17Z |
| publishDate | 2021-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a94a1e33a8c641a08982eb0efd5c989e2022-12-21T17:17:39ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142021-11-011810.1177/17298814211062033Multijoint passive elastic spine exoskeleton for stoop lifting assistanceJiyuan Song0Aibin Zhu1Yao Tu2Jiajun Zou3 Shaanxi Key Laboratory of Intelligent Robots, Xi’an, China. Institute of Robotics & Intelligent Systems, Xi’an Jiaotong University, Xi’an, China. Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi’an, China. Institute of Robotics & Intelligent Systems, Xi’an Jiaotong University, Xi’an, China.In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to load-bearing conduction, but this restricts the natural movement of the human body, thereby causing ergonomic risks. This article proposes a back exoskeleton composed of multiple elastic spherical hinges inspired by the biological spine. This spine exoskeleton can assist in the process of bending the body and ensure flexibility. We deduced the kinematics model of this mechanism and established an analytical biomechanical model of human–robot interaction. The mechanism of joint assistance of the spine exoskeleton was discussed, and experiments were conducted to verify the flexibility of the spine exoskeleton and the effectiveness of the assistance during bending.https://doi.org/10.1177/17298814211062033 |
| spellingShingle | Jiyuan Song Aibin Zhu Yao Tu Jiajun Zou Multijoint passive elastic spine exoskeleton for stoop lifting assistance International Journal of Advanced Robotic Systems |
| title | Multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| title_full | Multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| title_fullStr | Multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| title_full_unstemmed | Multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| title_short | Multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| title_sort | multijoint passive elastic spine exoskeleton for stoop lifting assistance |
| url | https://doi.org/10.1177/17298814211062033 |
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