This paper describes a semi-active assistive exoskeleton for upper-body motion assistance. The exoskeleton combines a passive shoulder exoskeleton and an active elbow joint unit, which can achieve both passive gravity compensation and also active assistance to carrying and sit-to-stand motion. The design, sensing and control are introduced, with preliminary test results performed.
CITATION STYLE
Bai, S., Islam, M. R., Hansen, K., Nørgaard, J., Chen, C. Y., & Yang, G. (2022). A Semi-active Upper-Body Exoskeleton for Motion Assistance. In Biosystems and Biorobotics (Vol. 27, pp. 301–305). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-69547-7_49
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