Abstract
To help the shoulder lift the arm against gravity, this paper proposes a soft cable-driven exoskeleton system. The shoulder posture is measured in real time by the heading and attitude reference systems distributed on the forearm and torso, and the ideal output tension of the two rope systems is calculated based on this. The flexible actuator realizes the tension tracking to assist the frontal flexion and lateral abduction of the user’s shoulder. The difference of the EMG signal of anterior deltoid and middle deltoid was analyzed in static/dynamic test, with/without exoskeleton, shoulder joint muscles The results show that the exoskeleton is compliant with the movement, and there is a significant decrease of the EMG signal of the anterior deltoid and middle deltoid wearing the exoskeleton, meaning a reduction of the muscle load.
National Natural Science Foundation of China (Grant No. 91848104) and Bei**g Natural Science Foundation-Haidian Foundation (Grant No. 2018YFB1307000).
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He, W., Zhang, W., Ding, X. (2021). Self Adjusting Exosuit for Shoulder. In: Liu, XJ., Nie, Z., Yu, J., **e, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_68
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DOI: https://doi.org/10.1007/978-3-030-89095-7_68
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