Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Entire DC Network
A Shoulder Mechanisms For Assisting Upper Arm Function With Distally Located Actuators, Michael Jones
A Shoulder Mechanisms For Assisting Upper Arm Function With Distally Located Actuators, Michael Jones
Honors College
This thesis presents a new design for a shoulder assistive device based on a modified double parallelogram linkage (DPL). The DPL allows for active support of the arm motion in the sagittal plane, while enabling the use of a distally located motor that can be mounted around the user’s waist to improve the weight distribution. The development of the DPL provides an unobtrusive mechanism for assisting the movement of the shoulder joint through a wide range of motion. This design contains three degrees-of-freedom (DOFs) and a rigid structure for supporting the arm. The modified DPL uses a cable-driven system to …
An Upper Extremity Exoskeleton Utilizing A Modified Double Parallelogram Linkage Mechanism With Proximally Located Actuators, Connor Bouffard
An Upper Extremity Exoskeleton Utilizing A Modified Double Parallelogram Linkage Mechanism With Proximally Located Actuators, Connor Bouffard
Honors College
The shoulder joint is an extremely complex joint, with a wide range of motion (ROM), which makes designing an upper extremity exoskeleton a complicated task. This thesis presents a 3-degree-of-freedom (DOF) exoskeleton with a modified double parallelogram mechanism (DPM) that fits any wearer independent of their biological frame. The DPM is remarkably useful in wearable robotics. The mechanism creates a remote center of rotation about the shoulder joint while remaining unobtrusive and not colliding with the wearer’s body. Its fixed link lengths, however, requires it to be specially fitted to each individual user. This is inconvenient for most exoskeletons that …