A multi-stage design framework for the development of task-specific robotic exoskeletons

Carmichael, MG; Khonasty, R; Liu, D

A multi-stage design framework for the development of task-specific robotic exoskeletons

Carmichael, MG

Khonasty, R Liu, D

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2015, 2015-November pp. 1176 - 1180
Issue Date:: 2015-11-04

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Khonasty, R	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2015-11-04	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2015, 2015-November pp. 1176 - 1180	en_US
dc.identifier.isbn	9781424492718	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/37786
dc.description.abstract	© 2015 IEEE. This work presents a multi-stage design framework for developing robotic exoskeletons suited for specific tasks, such as individualized exercises that meet the needs of patients undergoing physical therapy. The framework systematically develops the exoskeleton based on the required task space, represented by a set of limb poses which may be defined directly, or indirectly using means such as motion capture. The design process seeks to maximize the poses inside and surrounding the defined task space whilst ensuring additional criteria required to perform the task are satisfied. A case study demonstrates the framework applied to develop two variations of shoulder exoskeleton suited for two specific upper limb activities. Prototype exoskeletons based on the framework's outcomes were constructed, and their suitability for use in their intended tasks were evaluated.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/EMBC.2015.7318576	en_US
dc.subject.mesh	Exercise Therapy	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Exoskeleton Device	en_US
dc.title	A multi-stage design framework for the development of task-specific robotic exoskeletons	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2015-November	en_US
utslib.for	0913 Mechanical Engineering	en_US
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	2015-November	en_US

Abstract:

© 2015 IEEE. This work presents a multi-stage design framework for developing robotic exoskeletons suited for specific tasks, such as individualized exercises that meet the needs of patients undergoing physical therapy. The framework systematically develops the exoskeleton based on the required task space, represented by a set of limb poses which may be defined directly, or indirectly using means such as motion capture. The design process seeks to maximize the poses inside and surrounding the defined task space whilst ensuring additional criteria required to perform the task are satisfied. A case study demonstrates the framework applied to develop two variations of shoulder exoskeleton suited for two specific upper limb activities. Prototype exoskeletons based on the framework's outcomes were constructed, and their suitability for use in their intended tasks were evaluated.

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http://hdl.handle.net/10453/37786