Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System
As a new development direction in exoskeleton research, wearable flexible exoskeleton systems are highly favored for their freedom of movement, flexibility, lightweight design, and comfortable wearability. These systems are gradually becoming the preferred choice for rehabilitation therapy, and enha...
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MDPI AG
2024-11-01
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| author | Xuetong Jin Wenqian Ding Mathias Baumert Yan Wei Qinglin Li Wei Yang Yuqiao Yan |
| author_facet | Xuetong Jin Wenqian Ding Mathias Baumert Yan Wei Qinglin Li Wei Yang Yuqiao Yan |
| author_sort | Xuetong Jin |
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| description | As a new development direction in exoskeleton research, wearable flexible exoskeleton systems are highly favored for their freedom of movement, flexibility, lightweight design, and comfortable wearability. These systems are gradually becoming the preferred choice for rehabilitation therapy, and enhancing physical performance. In this thesis, based on existing research in wearable flexible exoskeletons, we aim to design a lightweight wearable upper limb rehabilitation exoskeleton that meets the needs of stroke patients with a high likelihood of upper limb impairment. The system should provide sufficient flexibility for comfortable and convenient use while minimizing the weight to reduce the user’s burden during wear. Our proposed lightweight wearable flexible exoskeleton assists users in achieving rehabilitation exercises for both the shoulder (external/internal rotation) and forearm (flexion/extension) movements. The system consists of a flexible fabric section connecting the torso–shoulder–upper arm, a flexible fabric section for the forearm, and a back-mounted actuation device. The fabric sections primarily consist of elastic textile materials with a few rigid components. Emphasizing lightweight design, we strive to minimize the exoskeleton’s weight, ensuring optimal user comfort. The actuation device connects to the fabric sections via tensioned wires, driven by a motor to induce arm movement during rehabilitation exercises. To enhance safety and prevent secondary upper limb injuries due to exoskeleton malfunction, we incorporate a physical limiter retricting the exoskeleton’s range of motion. Additionally, we include tension-adjustment mechanisms and cushioning springs to improve the feasibility of this wearable flexible exoskeleton. After completing the structural design, this paper conducted a basic static and kinematic analysis of the exoskeleton system to provide theoretical support. Additionally, the feasibility and effectiveness of the exoskeleton system design were verified through dynamic simulations. |
| format | Article |
| id | doaj-art-d8ebbbd8ccda488db4ec97246f724bda |
| institution | Kabale University |
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| publishDate | 2024-11-01 |
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| series | Technologies |
| spelling | doaj-art-d8ebbbd8ccda488db4ec97246f724bda2024-12-27T14:55:57ZengMDPI AGTechnologies2227-70802024-11-01121223810.3390/technologies12120238Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton SystemXuetong Jin0Wenqian Ding1Mathias Baumert2Yan Wei3Qinglin Li4Wei Yang5Yuqiao Yan6Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, ChinaFaculty of Dentistry, University of Malaya, Kuala Lumpur 50603, MalaysiaSchool of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide 5006, AustraliaCollege of Engineering Machinery, The Chang’an University, Xi’an 710061, ChinaCollege of Engineering Machinery, The Chang’an University, Xi’an 710061, ChinaCollege of Engineering Machinery, The Chang’an University, Xi’an 710061, ChinaCollege of Engineering Machinery, The Chang’an University, Xi’an 710061, ChinaAs a new development direction in exoskeleton research, wearable flexible exoskeleton systems are highly favored for their freedom of movement, flexibility, lightweight design, and comfortable wearability. These systems are gradually becoming the preferred choice for rehabilitation therapy, and enhancing physical performance. In this thesis, based on existing research in wearable flexible exoskeletons, we aim to design a lightweight wearable upper limb rehabilitation exoskeleton that meets the needs of stroke patients with a high likelihood of upper limb impairment. The system should provide sufficient flexibility for comfortable and convenient use while minimizing the weight to reduce the user’s burden during wear. Our proposed lightweight wearable flexible exoskeleton assists users in achieving rehabilitation exercises for both the shoulder (external/internal rotation) and forearm (flexion/extension) movements. The system consists of a flexible fabric section connecting the torso–shoulder–upper arm, a flexible fabric section for the forearm, and a back-mounted actuation device. The fabric sections primarily consist of elastic textile materials with a few rigid components. Emphasizing lightweight design, we strive to minimize the exoskeleton’s weight, ensuring optimal user comfort. The actuation device connects to the fabric sections via tensioned wires, driven by a motor to induce arm movement during rehabilitation exercises. To enhance safety and prevent secondary upper limb injuries due to exoskeleton malfunction, we incorporate a physical limiter retricting the exoskeleton’s range of motion. Additionally, we include tension-adjustment mechanisms and cushioning springs to improve the feasibility of this wearable flexible exoskeleton. After completing the structural design, this paper conducted a basic static and kinematic analysis of the exoskeleton system to provide theoretical support. Additionally, the feasibility and effectiveness of the exoskeleton system design were verified through dynamic simulations.https://www.mdpi.com/2227-7080/12/12/238lightweightflexibilityportabilitycable-drivenlimitersdynamic simulation |
| spellingShingle | Xuetong Jin Wenqian Ding Mathias Baumert Yan Wei Qinglin Li Wei Yang Yuqiao Yan Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System Technologies lightweight flexibility portability cable-driven limiters dynamic simulation |
| title | Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System |
| title_full | Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System |
| title_fullStr | Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System |
| title_full_unstemmed | Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System |
| title_short | Mechanical Design, Analysis, and Dynamics Simulation of a Cable-Driven Wearable Flexible Exoskeleton System |
| title_sort | mechanical design analysis and dynamics simulation of a cable driven wearable flexible exoskeleton system |
| topic | lightweight flexibility portability cable-driven limiters dynamic simulation |
| url | https://www.mdpi.com/2227-7080/12/12/238 |
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