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A pantograph can be used to create a scaled copy of a biological arm. Forces applied to this pantograph copied are transferred back to the arm, allowing the arm or a tool...
Abstract:
We present a new method for providing gravity compensation to a human or robot arm. This method allows the arm to be supported in any orientation, and also allows for the...Show MoreMetadata
Abstract:
We present a new method for providing gravity compensation to a human or robot arm. This method allows the arm to be supported in any orientation, and also allows for the support of a load held in the hand. We accomplish this with a pantograph, whereby one portion of the linkage duplicates the arm's geometry, and another portion of the linkage contains a scaled copy of the arm. Forces applied to the scaled copy are transferred back to the original arm. We implement these concepts with two exoskeletons: the Panto-Arm Exo, a low-profile exoskeleton that supports the arm's weight, and the Panto-Tool Exo that supports a mass held in the hand. We present two linkages used for pantographs, and analyze how different linkage dimensions and their positioning relative to the body affect the forces providing gravity compensation. We also measured the effect of the Panto-Arm exoskeleton on fourteen subjects' arm muscles during static holding tasks and a task in which subjects drew horizontal and vertical lines on a whiteboard. Even though the Panto-Arm Exo linkage geometry and forces were not optimized, it reduced the Mid Deltoid by 33-43% and the Biceps Brachii by up to 52% in several arm postures.
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A pantograph can be used to create a scaled copy of a biological arm. Forces applied to this pantograph copied are transferred back to the arm, allowing the arm or a tool...
Published in: IEEE Access ( Volume: 8)
Funding Agency:
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Joshua Hull received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree in mechanical engineering. He has been a SMART Scholar with the U.S. Department of the Navy since 2018. His research interests include exoskeleton design, robotics, and controls engineering.
Joshua Hull received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree in mechanical engineering. He has been a SMART Scholar with the U.S. Department of the Navy since 2018. His research interests include exoskeleton design, robotics, and controls engineering.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Ranger Turner received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree with the Mechanical Engineering Program. His research interests include kinematic design, wearable robotics, and design workflows.
Ranger Turner received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree with the Mechanical Engineering Program. His research interests include kinematic design, wearable robotics, and design workflows.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Athulya A. Simon received the B.S. degree in biomedical engineering and the M.S. degree in robotics from Northwestern University, in 2014 and 2015, respectively. She is currently pursuing the Ph.D. degree in mechanical engineering with Virginia Tech. Her research interests include biomechanics, robotics, and human-assistance devices.
Athulya A. Simon received the B.S. degree in biomedical engineering and the M.S. degree in robotics from Northwestern University, in 2014 and 2015, respectively. She is currently pursuing the Ph.D. degree in mechanical engineering with Virginia Tech. Her research interests include biomechanics, robotics, and human-assistance devices.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Alan T. Asbeck received the Ph.D. degree in electrical engineering from Stanford University, in 2010. He is currently an Assistant Professor in mechanical engineering with Virginia Tech, Blacksburg, VA, USA. His current research interests include mechanism design, human-assistance devices, human sensing systems, and robotics.
Alan T. Asbeck received the Ph.D. degree in electrical engineering from Stanford University, in 2010. He is currently an Assistant Professor in mechanical engineering with Virginia Tech, Blacksburg, VA, USA. His current research interests include mechanism design, human-assistance devices, human sensing systems, and robotics.View more
Contents Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Joshua Hull received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree in mechanical engineering. He has been a SMART Scholar with the U.S. Department of the Navy since 2018. His research interests include exoskeleton design, robotics, and controls engineering.
Joshua Hull received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree in mechanical engineering. He has been a SMART Scholar with the U.S. Department of the Navy since 2018. His research interests include exoskeleton design, robotics, and controls engineering.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Ranger Turner received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree with the Mechanical Engineering Program. His research interests include kinematic design, wearable robotics, and design workflows.
Ranger Turner received the bachelor’s degree in mechanical engineering from Virginia Tech, in 2019, where he is currently pursuing the master’s degree with the Mechanical Engineering Program. His research interests include kinematic design, wearable robotics, and design workflows.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Athulya A. Simon received the B.S. degree in biomedical engineering and the M.S. degree in robotics from Northwestern University, in 2014 and 2015, respectively. She is currently pursuing the Ph.D. degree in mechanical engineering with Virginia Tech. Her research interests include biomechanics, robotics, and human-assistance devices.
Athulya A. Simon received the B.S. degree in biomedical engineering and the M.S. degree in robotics from Northwestern University, in 2014 and 2015, respectively. She is currently pursuing the Ph.D. degree in mechanical engineering with Virginia Tech. Her research interests include biomechanics, robotics, and human-assistance devices.View more
Mechanical Engineering Department, Virginia Tech, Blacksburg, USA
Alan T. Asbeck received the Ph.D. degree in electrical engineering from Stanford University, in 2010. He is currently an Assistant Professor in mechanical engineering with Virginia Tech, Blacksburg, VA, USA. His current research interests include mechanism design, human-assistance devices, human sensing systems, and robotics.
Alan T. Asbeck received the Ph.D. degree in electrical engineering from Stanford University, in 2010. He is currently an Assistant Professor in mechanical engineering with Virginia Tech, Blacksburg, VA, USA. His current research interests include mechanism design, human-assistance devices, human sensing systems, and robotics.View more