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A Shoulder Mechanism for Assisting Upper Arm Function with Distally Located Actuators.

Michael Jones, Connor Bouffard, Babak Hejrati

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 18, 2020
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    Summary

    This study introduces a novel shoulder assistive device using a modified double parallelogram linkage (DPL) for improved arm support. The unobtrusive design enhances weight distribution and supports sagittal plane motion.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Mechanical Design

    Background:

    • Shoulder joint injuries and limitations necessitate effective assistive devices.
    • Existing assistive devices often suffer from poor weight distribution and limited range of motion.
    • A need exists for unobtrusive, lightweight, and functionally versatile shoulder support systems.

    Purpose of the Study:

    • To present a novel shoulder assistive device design.
    • To enable active support for arm motion in the sagittal plane.
    • To improve weight distribution and user comfort through a distally located motor.

    Main Methods:

    • Development of a modified double parallelogram linkage (DPL) mechanism.
    • Integration of a cable-driven system for torque transfer from a waist-mounted motor.
    • Design incorporating three degrees-of-freedom (DOFs) for controlled arm support.
    • Kinematic analysis of the cable-driven linkage system.

    Main Results:

    • The modified DPL design provides active support for arm flexion/extension.
    • The device allows unconstrained adduction/abduction and internal/external rotations.
    • A prototype was fabricated to demonstrate the feasibility of the proposed concept.
    • The distally located motor significantly improves weight distribution.

    Conclusions:

    • The modified DPL offers a promising solution for shoulder assistive devices.
    • The unobtrusive and lightweight design enhances user mobility and comfort.
    • This innovative approach facilitates rehabilitation and daily living activities for individuals with shoulder impairments.