The assistive devices such as active and passive exoskeletons and movable orthoses, designed to rehabilitate, support and reinforce the human musculoskeletal system functions, are performed by various linkages. The intended use of these mechanisms forms biomechanical systems of the device and human body that generally work in static and quasi-static modes. The gravity balancing of such systems plays a significant role in these mechanisms optimal design and application process. In a static work regime, the balancing of the system is realized by the use of counterweights, springs and auxiliary links. However, the use of springs is more desirable since they provide force balancing and have a small mass.
The present study discloses methods and approaches to the static balancing of the linkage mechanisms applicable to assistive devices. However, they are universal and can be applied not only for assistive devices designing, but also, in general, for any manipulating devices with linkage rotating links.
Design of Statically Balanced Assistive Devices
Mechan. Machine Science
2022-03-19
28 pages
Article/Chapter (Book)
Electronic Resource
English
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