Design of a Fail-Safe Wearable Robot with Novel Extendable Arms for Ergonomic Accommodation during Floor Work
Name
KHahm_Asada_IROS_2019.pdf
Description
Accepted version
Size
2.43 MB
Format
Adobe PDF
Checksum (MD5)
2dd0ee20da0758430e51de424dd42148
Author(s)
Hahm, Katie S.(Katie Soyoung)
Asada, Haruhiko
Date Issued
January 2020
Journal
IEEE International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Hahm, Katie S. and H. Harry Asada. "Design of a Fail-Safe Wearable Robot with Novel Extendable Arms for Ergonomic Accommodation during Floor Work." IEEE International Conference on Intelligent Robots and Systems, November 2019, Macau, China, Institute of Electrical and Electronics Engineers, January 2020. © 2019 IEEE
Version
Author's final manuscript
Abstract
Aircraft manufacturing, construction, and agricultural production often involve workers maintaining uncomfortable postures, such as stooping and kneeling, for extended periods of time. We present a wearable robot, called MantisBot Alpha, that consists of two expandable robotic arms that brace a worker near the ground and allows them to perform bi-manual tasks. The key component of this new design is a novel linkage mechanism that provides adjustment of both the worker's distance to the ground and their torso tilt. The mechanism link parameters are optimized such that a) its expansion rate is high enough to push off the human body from the ground and fully contract the scissor arm when not used, and b) it allows the worker to reach within a large space while c) it is light enough for wearability. The linkage mechanism also avoids the singularity problem in standard scissor mechanisms. The actuator design provides a fail-safe system. A prototype has been fabricated to demonstrate the feasibility of the system.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros40897.2019.8967956
