Design, prototyping and preliminary testing of an elastic-powered climbing exoskeleton
Name
775673900-MIT.pdf
Description
Full printable version
Size
2.25 MB
Format
Adobe PDF
Checksum (MD5)
d628029d002cad47aae2fdd57704a16d
Author(s)
Briner, Hazel (Hazel Linn)
Advisor(s)
Hugh M. Herr.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
Human powered elastic mechanisms can be used to reduce work requirements of muscles, by storing and releasing energy to more evenly distribute work load. An exoskeleton was designed to delay human fatigue during rock climbing. This exoskeleton stores energy in the less intensive motion, extension while reaching upwards, and uses the stored energy in the more intensive motion, flexion during upwards ascent. A cuff 3D which will be printed by Objet Geometries Inc. utilizes Arthur Iberall's lines of non-extension to simultaneously maximize rigidity and comfort. Due to the inability of Objet's printed items to withstand the required high forces, a prototype climbing exoskeleton for the arm was fabricated from heat moldable plastic and latex springs. Pilot tests were conducted with the prototype and preliminary results were promising.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 24).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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