Design of a bio- Inspired wearable exoskeleton for applications in robotics

Michele Folgheraiter, Bertold Bongardt, Jan Albiez, Frank Kirchner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper we explain the methodology we adopted to design the kinematics structure of a multi-contact points haptic interface.We based our concept on the analysis of the human arm anatomy and kinematics with the intend to synthesize a system that will be able to interface with the human limb in a very natural way. We proposed a simplified kinematic model of the human arm using a notation coming from the robotics field.To find out the best kinematics architecture we employed real movement data,measured from a human subject,and integrated them with the kinematic model of the exoskeleton,this allow us to test the system before its construction and to formalize specific requirements.We also implemented and tested a first passive version of the shoulder joint.

Original languageEnglish
Title of host publicationBIODEVICES 2009 - Proceedings of the 2nd International Conference on Biomedical Electronics and Devices
Pages414-421
Number of pages8
Publication statusPublished - Jul 21 2009
Event2nd International Conference on Biomedical Electronics and Devices, BIODEVICES 2009 - Porto, Portugal
Duration: Jan 14 2009Jan 17 2009

Publication series

NameBIODEVICES 2009 - Proceedings of the 2nd International Conference on Biomedical Electronics and Devices

Other

Other2nd International Conference on Biomedical Electronics and Devices, BIODEVICES 2009
CountryPortugal
CityPorto
Period1/14/091/17/09

Keywords

  • Bio-Inspired device
  • Biorobotics
  • Exoskeleton
  • Haptic interface

ASJC Scopus subject areas

  • Biomedical Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Folgheraiter, M., Bongardt, B., Albiez, J., & Kirchner, F. (2009). Design of a bio- Inspired wearable exoskeleton for applications in robotics. In BIODEVICES 2009 - Proceedings of the 2nd International Conference on Biomedical Electronics and Devices (pp. 414-421). (BIODEVICES 2009 - Proceedings of the 2nd International Conference on Biomedical Electronics and Devices).