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Mechanical System Design of a Haptic Cobot Exoskeleton

LaFay, Eric Bryan
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920

Abstract Details

2007, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering).
This thesis presents a mechanical system design of a haptic cobot exoskeleton for use in physical therapy rehabilitation. The exoskeleton will be the first exoskeleton to offer cobot technology in a wearable haptic device. This exoskeleton provides a significant improvement in existing haptic exoskeleton technology by providing high performance haptic feedback while maximizing the user’s safety. An overall system and subsystem design is presented; which includes a spherical 3RRR mechanism for the shoulder. A detailed design of the shoulder mechanism is presented in five parts: a range of motion study, the kinematic parameters, the kinematics, kinematic optimization and a collision study. The range of motion study is based anatomical data collected using a Flock of Birds motion capture device. The design process for optimization of the shoulder mechanism is presented in which the shoulder mechanism is optimized by examining the Jacobian matrix with the lowest inverse condition number and global condition index. The result is an practical design of a exoskeleton with a high performance shoulder mechanism that is capable of reaching nearly a quarter of workspace developed by the Flock of Birds.
Robert Williams II (Advisor)
151 p.
Haptic Exoskeleton; Shoulder Mechanism; Spherical Mechanism; Optimization of Spherical Mechanism; Cobot; Exoskeleton; Haptic; REACH exoskeleton; CVT design; mechanical system design; range of motion study; upper extremity exoskeleton

Recommended Citations

Citations

  • LaFay, E. B. (2007). Mechanical System Design of a Haptic Cobot Exoskeleton [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920

    APA Style (7th edition)

  • LaFay, Eric. Mechanical System Design of a Haptic Cobot Exoskeleton. 2007. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920.

    MLA Style (8th edition)

  • LaFay, Eric. "Mechanical System Design of a Haptic Cobot Exoskeleton." Master's thesis, Ohio University, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920

    Chicago Manual of Style (17th edition)

ohiou1181064920
3,560
© 2007, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.