Research Work on Design and Analysis of Exoskeleton Arm

Research Work on Design and Analysis of Exoskeleton Arm

 Aman  Dhanvijay , Prof. Vaibhav Bankar

Abstract— For centuries now, humans have developed machines for tasks that are too labor-intensive for species cannot do. So, creative imagination and subtle engineering have led to the development of the powered exoskeleton. It is a device that can be worn over the human body. A powered exoskeleton enables a human to perform tasks that are beyond physical prowess by amplifying muscular movements. We have outlined the process of developing an exoskeleton arm that increases the load lifting capacity of a human. The PAM has a thin-walled, rubber bladder placed inside an axially stiff but radically compliant braided sleeve. As the rubber bladder expands due to an increase in pressure, the diameter of the combined sleeve and bladder assembly easily changes in the radial direction and the PAM shortens in the axial direction. As the consequence of this interaction, a large contraction force produced can perform external work at a rapid rate. However, non-linearity exists as the pressure changes in the bladder because its area expands proportionally to the square of the diameter. Also as the outer sheath material moves, its length is dependent on trigonometric relationships involving the outer sheath material, which are non-linear.

Keywords: Pneumatic Actuation, Muscle sensor, Flex sensor, Rehabilitation, Degrees of freedom.