Light exoskeleton design with topology optimisation and FEM simulations for FFF technology

• Autorzy: Falkowski Piotr

Identyfikatory

DOI

10.14313/JAMRIS/2‐2021/9

• Języki publikacji: EN

Abstrakty

EN

Among past years interest in robot‐assisted rehabilitation arose significantly; thus, constructions such as exoskele‐ tons are involved in this process much more often. As pa‐ tient’s bio‐signals may be included in a control loop of these devices, they may be also used to support the mo‐ tion of extremities in an everyday life. Therefore, a field of control over them stays a popular research topic. For this reason, an exoskeleton described in a paper was de‐ signed. The most important aim of a project was to ena‐ ble all anatomical movements within ranges required for the lifting of an object while minimising a mass of the device. The following paper consist of a concept of an exoskeleton and description of FEM simulations and to‐ pology optimisation applied to decrease the amount of material needed. Moreover, as an exoskeleton was built with FFF 3‐D printing technology, created parts are mo‐ delled orthotopically based on nominal mechanical para‐ meters of filaments and directions of their beams. The de‐ sign is complemented with a short description of control with EMG signals and analysis of load on a user’s muscu‐ loskeletal system.

Słowa kluczowe

EN

exoskeleton; rapid prototyping; rehabilitation robotics; topology optimisation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2021
• Tom: Vol. 15, No. 2
• Strony: 14--19
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Falkowski Piotr

• Warsaw University of Techno‑ logy, ŁUKASIEWICZ Research Network – Industrial Research Institute for Automation and Measurements PIAP, Al. Jerozolimskie 202, 02‑486 Warsaw, Poland, www: https://piap.pl/

Bibliografia

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