Individualized arm shells towards an ergonomic design of exoskeleton robots

Abstract

This paper introduces a novel method to generate individualized upper extremity exoskeleton structures. This approach aims to overcome micro-misalignments in wearable design technology caused by inter-subject variability. Geometric dimensions of the patient's forearm are measured using a stereo camera and infrared reflecting markers. Surfaces are generated using Delaunay's Triangulation and converted into an STL -file for 3D printing in order to be a more compatible design and produce a swift development of custom-fit exoskeleton structures. This paper summarizes the design steps of individualized structures that could be implemented in future exoskeleton designs. The fitting accuracy was compared to that of non-individualized shells by applying an 8 kg weight onto the worn shells. Results showed a significantly larger pressure distribution and lower maximum pressure among individualized shells compared to non-individualized shells, which results in a 5% higher tolerance to applied pressure of the exoskeleton.