Design Of An Anthropomorphic Upper Limb Exoskeleton Actuated By Ball-Screws And Cables - CEA - Commissariat à l’énergie atomique et aux énergies alternatives Access content directly
Journal Articles Bulletin of the Academy of Sciences of the Ussr - Physical Series Year : 2010

Design Of An Anthropomorphic Upper Limb Exoskeleton Actuated By Ball-Screws And Cables

Abstract

This paper presents the design of ABLE, an anthropomorphic upper limb exoskeleton integrally actuated by highly reversible ball-screw and cable (SCS standing for Screw-and-Cable-System) allowing true joint torque control without force sensor. Their unique kinematics allows their integration in the structure thanks to dedicated mechanical innovations such as the shoulder articulation and the forearm-wrist. The result is an anthropomorphic, lightweight, open architecture which avoids imprisoning the human limb. Applicative projects are briefly presented in: medical rehabilitation, teleoperation and haptics (VR).
Lucrarea prezintă proiectul lui ABLE, un exoschelet al braţului, integral acţionat de un sistem şurub cu cap sferic şi cablu (SSC, de la sistem cu şurub şi cablu), puternic reversibil, care permite controlul real al momentului în articulaţie fără senzor de forţă. Cinematica unică permite integrarea lui în structură graţie inovaţiilor mecanice speciale, precum articulaţia umărului şi încheietura antebraţului. Rezultatul este o arhitectură deschisă, uşoară, antropomorfică, care evită încorsetarea braţului uman. Sunt prezentate pe scurt proiecte de aplicaţii în: recuperarea medicală, telechirurgie şi interfaţare haptică (RV).
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Dates and versions

cea-01175471 , version 1 (10-07-2015)

Identifiers

  • HAL Id : cea-01175471 , version 1

Cite

Philippe Garrec. Design Of An Anthropomorphic Upper Limb Exoskeleton Actuated By Ball-Screws And Cables. Bulletin of the Academy of Sciences of the Ussr - Physical Series, 2010, 72, pp.23. ⟨cea-01175471⟩
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