AXO-SUIT - a modular full-body exoskeleton for physical assistance

Simon Christensen; Shaoping Bai; Sajid Rafique; Magnus Isaksson; Leonard O’Sullivan; Valerie Power; Gurvinder Singh Virk

doi:10.1007/978-3-030-00365-4_52

AXO-SUIT - a modular full-body exoskeleton for physical assistance

Simon Christensen
, Shaoping Bai
, Sajid Rafique
, Magnus Isaksson
, Leonard O’Sullivan
, Valerie Power
, Gurvinder Singh Virk

Aalborg University
University of Gävle
University of Limerick
Innovative Technology and Science Limited

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

Original language	English
Pages (from-to)	443-450
Number of pages	8
Journal	Mechanisms and Machine Science
Volume	66
DOIs	https://doi.org/10.1007/978-3-030-00365-4_52
Publication status	Published - 2019

Keywords

Physical assistance for the elderly
Robotic exoskeletons
Spherical shoulder mechanism
User-centered design

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10.1007/978-3-030-00365-4_52

Cite this

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title = "AXO-SUIT - a modular full-body exoskeleton for physical assistance",

abstract = "This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.",

keywords = "Physical assistance for the elderly, Robotic exoskeletons, Spherical shoulder mechanism, User-centered design",

author = "Simon Christensen and Shaoping Bai and Sajid Rafique and Magnus Isaksson and Leonard O{\textquoteright}Sullivan and Valerie Power and Virk, \{Gurvinder Singh\}",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

doi = "10.1007/978-3-030-00365-4\_52",

language = "English",

volume = "66",

pages = "443--450",

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AU - Christensen, Simon

AU - Bai, Shaoping

AU - Rafique, Sajid

AU - Isaksson, Magnus

AU - O’Sullivan, Leonard

AU - Power, Valerie

AU - Virk, Gurvinder Singh

PY - 2019

Y1 - 2019

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AB - This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

KW - Physical assistance for the elderly

KW - Robotic exoskeletons

KW - Spherical shoulder mechanism

KW - User-centered design

UR - https://www.scopus.com/pages/publications/85052801351

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DO - 10.1007/978-3-030-00365-4_52

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AN - SCOPUS:85052801351

SN - 2211-0984

VL - 66

SP - 443

EP - 450

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

AXO-SUIT - a modular full-body exoskeleton for physical assistance

Abstract

Keywords

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