Design and preliminary evaluation of an exoskeleton for upper limb resistance training

doi:10.1007/s11465-012-0327-2

Front Mech Eng

0, Vol.

Issue () : 188-198 https://doi.org/10.1007/s11465-012-0327-2

RESEARCH ARTICLE

Design and preliminary evaluation of an exoskeleton for upper limb resistance training

Tzong-Ming WU, Dar-Zen CHEN(

)

Department of Mechanical Engineering, Taiwan University, Taipei, China

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Abstract

Resistance training is a popular form of exercise recommended by national health organizations, such as the American College of Sports Medicine (ACSM) and the American Heart Association (AHA). This form of training is available for most populations. A compact design of upper limb exoskeleton mechanism for home-based resistance training using a spring-loaded upper limb exoskeleton with a three degree-of-freedom shoulder joint and a one degree-of-freedom elbow joint allows a patient or a healthy individual to move the upper limb with multiple joints in different planes. It can continuously increase the resistance by adjusting the spring length to train additional muscle groups and reduce the number of potential injuries to upper limb joints caused by the mass moment of inertia of the training equipment. The aim of this research is to perform a preliminary evaluation of the designed function by adopting an appropriate motion analysis system and experimental design to verify our prototype of the exoskeleton and determine the optimal configuration of the spring-loaded upper limb exoskeleton.

Keywords exoskeleton free-weight exercise upper limb motion analysis

Corresponding Author(s): CHEN Dar-Zen,Email:dzchen@ntu.edu.tw

Issue Date: 05 June 2012

Cite this article:

Tzong-Ming WU,Dar-Zen CHEN. Design and preliminary evaluation of an exoskeleton for upper limb resistance training[J]. Front Mech Eng, 0, (): 188-198.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0327-2
https://academic.hep.com.cn/fme/EN/Y0/V/I/188

Fig.1 Kinematic model and coordinate system of the right upper limb []

Fig.2 A schematic diagram of the spring-loaded upper limb exoskeleton []

Fig.3 The prototype and CAD drawing of the upper limb exoskeleton. (a) The arrangement of springs , , and ; (b) the arrangement of the shoulder joint; (c) the arrangement of the elbow joint

Tab.1 Detailed spring design parameters for the exoskeleton

Tab.2 Anthropometric parameters of the subjects

Fig.4 Marker placement on the thorax, clavicle, and right upper limb. (a) Front view; (b) rear view

Fig.5 Movement range and hand grip pattern of the free-weight exercises and the exoskeleton motion. (a) Shoulder abduction-adduction: raise the right arm laterally from the side of the body until in a horizontal position while keeping your elbow in a fixed position. The palm should face the ground; (b) shoulder flexion-extension: raise the right arm in a sagittal plane so that the hand ends up directly in front of your shoulder joint while keeping your elbow locked. The palm should face the ground; (c) elbow flexion-extension: draw the forearm upward in an arc from a vertical position to a horizontal position with your palm facing up, toward the ceiling then moved in the reverse direction

Fig.6 Subjects operating the upper limb exoskeleton mechanism with difference movements for resistance training. (a) Shoulder abd-add exercise of the upper limb exoskeleton; (b) shoulder flx-ext exercise of the upper limb exoskeleton; (c) elbow flx-ext exercise of the upper limb exoskeleton

Fig.7 The experimental data for joint torques with 1 and 3 kg resistance that is provided by dumbbell and exoskeleton (without the effect of inertia). (a) Shoulder abd-add exercise (male); (b) shoulder abd-add exercise (female); (c)shoulder flx-ext exercise (male); (d) shoulder flx-ext exercise (female); (e) elbow flx-ext exercise (male); (f) elbow flx-ext exercise (female)

Tab.3 The peak torques and differences for the free-weight and upper limb exoskeleton exercises

Fig.8 The experimental data for joint torques with 1 and 3 kg resistances that is provided by dumbbell and exoskeleton (with the inertia effect).(a) Shoulder abd-add exercise (male); (b) shoulder abd-add exercise (female); (c)shoulder flx-ext exercise (male); (d) shoulder flx-ext exercise (female); (e) elbow flx-ext exercise (male); (f) elbow flx-ext exercise (female)

Fig.9 Comparison of the mass moment of inertia effect caused with a dumbbell and the exoskeleton while doing the shoulder abd-add exercise

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