Human biomechanical model based optimal design of assistive shoulder exoskeleton

Carmichael, MG; Liu, DK

Human biomechanical model based optimal design of assistive shoulder exoskeleton

Carmichael, MG

Liu, DK

Permalink

Publication Type:: Conference Proceeding
Citation:: Springer Tracts in Advanced Robotics, 2015, 105 pp. 245 - 258
Issue Date:: 2015-01-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted Manuscript versionAdobe PDF (785.36 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.date.available	2020-05-25T19:03:18Z
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	Springer Tracts in Advanced Robotics, 2015, 105 pp. 245 - 258	en_US
dc.identifier.isbn	9783319074870	en_US
dc.identifier.issn	1610-7438	en_US
dc.identifier.uri	http://hdl.handle.net/10453/33571
dc.description.abstract	© Springer International Publishing Switzerland 2015. Robotic exoskeletons are being developed to assist humans in tasks such as robotic rehabilitation, assistive living, industrial and other service applications. Exoskeletons for the upper limb are required to encompass the shoulder whilst achieving a range of motion so as to not impede the wearer, avoid collisions with the wearer, and avoid kinematic singularities during operation. However this is particularly challenging due to the large range of motion of the human shoulder. In this paper a biomechanical model based optimisation is applied to the design of a shoulder exoskeleton with the objective of maximising shoulder range of motion. A biomechanical model defines the healthy range of motion of the human shoulder. A genetic algorithm maximises the range of motion of the exoskeleton towards that of the human, whilst taking into account collisions and kinematic singularities. It is shown how the optimisation can increase the exoskeleton range of motion towards that equivalent of the human, or towards a subset of human range of motion relevant to specific applications.	en_US
dc.relation.ispartof	Springer Tracts in Advanced Robotics	en_US
dc.relation.isbasedon	10.1007/978-3-319-07488-7_17	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Human biomechanical model based optimal design of assistive shoulder exoskeleton	en_US
dc.type	Conference Proceeding
utslib.citation.volume	105	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Brisbane
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	105	en_US

Abstract:

© Springer International Publishing Switzerland 2015. Robotic exoskeletons are being developed to assist humans in tasks such as robotic rehabilitation, assistive living, industrial and other service applications. Exoskeletons for the upper limb are required to encompass the shoulder whilst achieving a range of motion so as to not impede the wearer, avoid collisions with the wearer, and avoid kinematic singularities during operation. However this is particularly challenging due to the large range of motion of the human shoulder. In this paper a biomechanical model based optimisation is applied to the design of a shoulder exoskeleton with the objective of maximising shoulder range of motion. A biomechanical model defines the healthy range of motion of the human shoulder. A genetic algorithm maximises the range of motion of the exoskeleton towards that of the human, whilst taking into account collisions and kinematic singularities. It is shown how the optimisation can increase the exoskeleton range of motion towards that equivalent of the human, or towards a subset of human range of motion relevant to specific applications.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/33571