Wearable Robotic Device for Arm Extension/Flexion

Abstract

In this paper, the Robo-Bros. explore concept generation, design processes, and integration of pneumatic actuation, such as air cylinder pistons, on a linkage mechanism to producing a wearable robotic device for upper extremity extension and flexion about the elbow. Inspiration of this design was drawn from excavators, mechanical machines which are used to lift heavy objects. The implementation of fluidic actuation to achieve flexion and extension motion via a bar linkage structure is brilliantly used by excavators. Two single-acting pneumatic actuators were used by this team, which are fixed on the outside of the arm. The design adhered to a number of physical parameters such as weight, dimensions, price constraints, and met several mechanical requirements such as moments generated and range of motion reached. The Robo-Bros. validated that 25psi was enough power needed to enable full functionality of the prototype amongst their own experimentation on themselves. In the end a lightweight, portable, and price efficient prototype was created.