Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability.

Area of Science:

• Robotics
• Biomechanics
• Human Augmentation

Background:

• Power-assisted exoskeletons aim to reduce physical burden and enhance work efficiency.
• Key design considerations include ease of wear, usability, and unimpeded movement.
• Evaluating backdrivability, range of motion, and power-assist capability is crucial for development.

Purpose of the Study:

• To develop a lightweight upper-limb power-assisted exoskeleton with high backdrivability.
• To evaluate the exoskeleton's impact on the wearer's range of motion and movement support.
• To assess the effectiveness of the power assistance system.

Main Methods:

• Development of a lightweight upper-limb power-assisted exoskeleton.
• Utilizing a motion capture system to analyze the wearer's upper limb workspace.
• Employing a compact three-axis force sensor for power assistance.
• Measuring surface electromyography, force, and joint angle signals to evaluate assistance effects.

Main Results:

• The developed exoskeleton demonstrated high backdrivability.
• Analysis confirmed the exoskeleton supports the wearer's natural movement and range of motion.
• Electromyography and force measurements indicated effective power assistance.
• The exoskeleton did not negatively impact the wearer's movements.

Conclusions:

• The lightweight upper-limb exoskeleton successfully provides power assistance.
• The developed system supports natural human movement without hindrance.
• This research provides a basis for further development of power-assisted exoskeletons.