Design of a powered full-body exoskeleton for physical assistance of elderly people

The development of full-body exoskeletons has been limited due to design complexities, mechanical integration intricacies, and heavier weight, among others. Consequently, very few full-body powered exoskeletons were developed to address these challenges, in spite of increasing demand for physical as...

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Autores principales:	Simon Christensen, Sajid Rafique, Shaoping Bai
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/c216a5f3ef0a49109dd1dba23eaaaceb
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spelling	oai:doaj.org-article:c216a5f3ef0a49109dd1dba23eaaaceb2021-11-12T01:33:23ZDesign of a powered full-body exoskeleton for physical assistance of elderly people1729-881410.1177/17298814211053534https://doaj.org/article/c216a5f3ef0a49109dd1dba23eaaaceb2021-11-01T00:00:00Zhttps://doi.org/10.1177/17298814211053534https://doaj.org/toc/1729-8814The development of full-body exoskeletons has been limited due to design complexities, mechanical integration intricacies, and heavier weight, among others. Consequently, very few full-body powered exoskeletons were developed to address these challenges, in spite of increasing demand for physical assistance at full-body level. This article presents an overall design and development of a powered full-body exoskeleton called “FB-AXO.” Primarily, FB-AXO consists of two main subsystems, a lower-body and an upper-body subsystem connected together through waist and spine modules. FB-AXO is developed for the support of weaker ageing adults so that they can continue functioning their daily activities. At the onset of the project, a set of functional and design requirements has been formulated with an extensive end-user involvement and then used in realizing the FB-AXO. The final FB-AXO design comprises of 27 degrees of freedom, of which 10 are active and 17 are passive, having a total system weight of 25 kg. Overall, the article elaborates comprehensively the design, construction, and preliminary testing of FB-AXO. The work effectively addresses design challenges including kinematic compatibility and modularity with innovative solutions. The details of the mechanics, sensors, and electronics of the two subsystems along with specifics of human-exoskeleton interfaces and ranges of motion are also provided. The FB-AXO exoskeleton effectively demonstrated to assist full-body motions such as normal walking, standing, bending as well as executing lifting and carrying tasks to meet the daily living demands of older users.Simon ChristensenSajid RafiqueShaoping BaiSAGE PublishingarticleElectronicsTK7800-8360Electronic computers. Computer scienceQA75.5-76.95ENInternational Journal of Advanced Robotic Systems, Vol 18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95 Simon Christensen Sajid Rafique Shaoping Bai Design of a powered full-body exoskeleton for physical assistance of elderly people
description	The development of full-body exoskeletons has been limited due to design complexities, mechanical integration intricacies, and heavier weight, among others. Consequently, very few full-body powered exoskeletons were developed to address these challenges, in spite of increasing demand for physical assistance at full-body level. This article presents an overall design and development of a powered full-body exoskeleton called “FB-AXO.” Primarily, FB-AXO consists of two main subsystems, a lower-body and an upper-body subsystem connected together through waist and spine modules. FB-AXO is developed for the support of weaker ageing adults so that they can continue functioning their daily activities. At the onset of the project, a set of functional and design requirements has been formulated with an extensive end-user involvement and then used in realizing the FB-AXO. The final FB-AXO design comprises of 27 degrees of freedom, of which 10 are active and 17 are passive, having a total system weight of 25 kg. Overall, the article elaborates comprehensively the design, construction, and preliminary testing of FB-AXO. The work effectively addresses design challenges including kinematic compatibility and modularity with innovative solutions. The details of the mechanics, sensors, and electronics of the two subsystems along with specifics of human-exoskeleton interfaces and ranges of motion are also provided. The FB-AXO exoskeleton effectively demonstrated to assist full-body motions such as normal walking, standing, bending as well as executing lifting and carrying tasks to meet the daily living demands of older users.
format	article
author	Simon Christensen Sajid Rafique Shaoping Bai
author_facet	Simon Christensen Sajid Rafique Shaoping Bai
author_sort	Simon Christensen
title	Design of a powered full-body exoskeleton for physical assistance of elderly people
title_short	Design of a powered full-body exoskeleton for physical assistance of elderly people
title_full	Design of a powered full-body exoskeleton for physical assistance of elderly people
title_fullStr	Design of a powered full-body exoskeleton for physical assistance of elderly people
title_full_unstemmed	Design of a powered full-body exoskeleton for physical assistance of elderly people
title_sort	design of a powered full-body exoskeleton for physical assistance of elderly people
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/c216a5f3ef0a49109dd1dba23eaaaceb
work_keys_str_mv	AT simonchristensen designofapoweredfullbodyexoskeletonforphysicalassistanceofelderlypeople AT sajidrafique designofapoweredfullbodyexoskeletonforphysicalassistanceofelderlypeople AT shaopingbai designofapoweredfullbodyexoskeletonforphysicalassistanceofelderlypeople
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Design of a powered full-body exoskeleton for physical assistance of elderly people

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