Design of a torque measurement unit for upper limbs industrial exoskeletons

Hartmann, Vitor N.; Rinaldi, Décio de Moura; Taira, Camila; Pinho, João Pedro; Forner-Cordero, Arturo

doi:10.1109/induscon51756.2021.9529742

Cited by 3 publications

(2 citation statements)

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“…A dedicated power source fed the motor driver, as shown in Figure 2. For more information about the test bench, see [25].…”

Section: Methodsmentioning

confidence: 99%

“…In a previous study [25], we presented the design of a test bench to measure the actuating torque of shoulder exoskeleton models, in order to compare these values between different manufacturers under controlled conditions. In this study, we present the final design and construction of this test bench and apply it to assess the load capacity of a commercially available exoskeleton model.…”

Section: Introductionmentioning

confidence: 99%

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Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking

et al. 2021

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Exoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time, as their performance may change with use. We present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of an exoskeleton model. A step motor in the test bench moves the exoskeleton arm in a pre-defined path at a prescribed speed. The force measured with a beam load cell located at the interface between the exoskeleton arm and the test bench is used to derive the torque. The proposed test bench can be easily modified to allow different exoskeleton models to be tested under the same conditions.

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“…A dedicated power source fed the motor driver, as shown in Figure 2. For more information about the test bench, see [25].…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%