Design of a new exoskeletal mechanism for a shoulder joint of wearable robots: the wearable HEXA mechanism

Author

Morizono, Tetsuya ; Yamada, Yoji ; Umetani, Yoji ; Yamamoto, Takahisa ; Yoshida, Tetsuji ; Aoki, Shigeru

Author_Institution

Graduate Sch. of Eng., Toyota Technol. Inst., Nagoya, Japan

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2323

Abstract

To successfully incorporate human skills into a wearable robot, it is required to design its joint mechanism so that it does not interfere with the human skills. From this viewpoint, this paper first addresses six design goals for the joint mechanism. Based on the result of preliminary examination for two well-known mechanisms, a new 6-DOF mechanism referred to as the Wearable HEXA mechanism is proposed. This is based on the HEXA, which has been originally developed as a high-speed manipulator. Detail of its design process is given, and evaluation of a trial mechanism manufactured along the design process is also reported.

Keywords

collision avoidance; man-machine systems; manipulator kinematics; 6-DOF mechanism; HEXA; collision avoidance; design process; exoskeletal mechanism design; high speed manipulator; human computer interaction; human skills; shoulder joint mechanism; wearable robots; Design engineering; Humans; Joints; Kinematics; Manipulators; Manufacturing processes; Process design; Service robots; Shoulder; Toy industry;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241940

Filename

1241940