Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume
Although industrial shoulder exoskeletons have undergone rapid advancement, their acceptance by industrial workers is limited owing to the misalignment and interference between the exoskeletal frame and the wearer’s body and bulkiness of the frames. Several joint mechanisms have been developed to of...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/12/1223 |
| _version_ | 1827638004889419776 |
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| author | Jihwan Yoon Sumin Kim Junyoung Moon Jehyeok Kim Giuk Lee |
| author_facet | Jihwan Yoon Sumin Kim Junyoung Moon Jehyeok Kim Giuk Lee |
| author_sort | Jihwan Yoon |
| collection | DOAJ |
| description | Although industrial shoulder exoskeletons have undergone rapid advancement, their acceptance by industrial workers is limited owing to the misalignment and interference between the exoskeletal frame and the wearer’s body and bulkiness of the frames. Several joint mechanisms have been developed to offset misalignments; however, none of the existing systems can simultaneously alleviate the interference and bulkiness problems. Furthermore, the reduction in the misalignments in terms of forces generated at the human–robot interface has not been experimentally verified. Therefore, in this study, design optimization was performed to address the various factors that limit the use of the existing industrial shoulder exoskeletons. Upper body motions were captured and converted into a target trajectory for the exoskeleton to follow. The optimal prismatic–revolute–revolute joint configuration was derived and used to manufacture a skeletal mock-up, which was used to perform experiments. The misalignments of the optimized configuration in the considered motions were 67% lower than those for the conventional joint configuration. Furthermore, the interaction forces were negligible (1.35 N), with a maximum reduction of 61.8% compared to those of conventional configurations. |
| first_indexed | 2024-03-09T16:10:34Z |
| format | Article |
| id | doaj.art-fc7c3adc93944fb6a5a28f34ac4d8d1f |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T16:10:34Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-fc7c3adc93944fb6a5a28f34ac4d8d1f2023-11-24T16:17:42ZengMDPI AGMachines2075-17022022-12-011012122310.3390/machines10121223Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing VolumeJihwan Yoon0Sumin Kim1Junyoung Moon2Jehyeok Kim3Giuk Lee4School of Mechanical Engineering, Chung-Ang University, 84 Heukseok-ro, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, 84 Heukseok-ro, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, 84 Heukseok-ro, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Laval University, 1065 Avenue of Medicine, Quebec, QC G1V 0A6, CanadaSchool of Mechanical Engineering, Chung-Ang University, 84 Heukseok-ro, Seoul 06974, Republic of KoreaAlthough industrial shoulder exoskeletons have undergone rapid advancement, their acceptance by industrial workers is limited owing to the misalignment and interference between the exoskeletal frame and the wearer’s body and bulkiness of the frames. Several joint mechanisms have been developed to offset misalignments; however, none of the existing systems can simultaneously alleviate the interference and bulkiness problems. Furthermore, the reduction in the misalignments in terms of forces generated at the human–robot interface has not been experimentally verified. Therefore, in this study, design optimization was performed to address the various factors that limit the use of the existing industrial shoulder exoskeletons. Upper body motions were captured and converted into a target trajectory for the exoskeleton to follow. The optimal prismatic–revolute–revolute joint configuration was derived and used to manufacture a skeletal mock-up, which was used to perform experiments. The misalignments of the optimized configuration in the considered motions were 67% lower than those for the conventional joint configuration. Furthermore, the interaction forces were negligible (1.35 N), with a maximum reduction of 61.8% compared to those of conventional configurations.https://www.mdpi.com/2075-1702/10/12/1223human motion analysishuman–robot interactionmisalignment compensationkinematic optimizationoptimal joint configurationshoulder exoskeleton |
| spellingShingle | Jihwan Yoon Sumin Kim Junyoung Moon Jehyeok Kim Giuk Lee Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume Machines human motion analysis human–robot interaction misalignment compensation kinematic optimization optimal joint configuration shoulder exoskeleton |
| title | Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume |
| title_full | Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume |
| title_fullStr | Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume |
| title_full_unstemmed | Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume |
| title_short | Minimizing Misalignment and Frame Protrusion of Shoulder Exoskeleton via Optimization for Reducing Interaction Force and Minimizing Volume |
| title_sort | minimizing misalignment and frame protrusion of shoulder exoskeleton via optimization for reducing interaction force and minimizing volume |
| topic | human motion analysis human–robot interaction misalignment compensation kinematic optimization optimal joint configuration shoulder exoskeleton |
| url | https://www.mdpi.com/2075-1702/10/12/1223 |
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