Print Email Facebook Twitter Design of a compact wearable arm support utilizing shape optimized shell mechanisms Title Design of a compact wearable arm support utilizing shape optimized shell mechanisms: To be worn underneath the surgical gown Author van der Kemp, Stefhan (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Precision and Microsystems Engineering) Contributor Herder, Just (mentor) van de Sande, Werner (graduation committee) Hanumara, NC (graduation committee) Langelaar, Matthijs (graduation committee) Horeman, Tim (graduation committee) Degree granting institution Delft University of Technology Date 2018-10-20 Abstract Passive exoskeletons that support the weight of the surgeon’s arms could yield a significant ergonomic improvement in the Laparoscopic theatre. However, the cost and regulations associated with sterilization complicates adoption of such devices. In this work a compact passive arm support mechanism is designed that can be worn underneath the surgical gown to circumvent sterility requirements. The design utilizes shape optimized compliant shell mechanisms who’s geometry can remain substantially close to the body as well as achieve the nonlinear stiffness characteristic that is desired for balancing the arm’s weight. A shell design with the desired torque-rotation characteristic is designed using shape optimization and fabricated for validation testing. Measurements show the prototype balances 19% of an average adult’s arm weight within ±4 percentage points between 0 and 90 degrees of arm abduction and or flexion. A prototype of the mechanism remains within 34mm of the arm, nearly twice as compact as the state of the art. Subject Compactarmsupportshellmechanisms To reference this document use: http://resolver.tudelft.nl/uuid:3664c6fd-da05-48b5-a503-a9e373d912a0 Embargo date 2020-09-01 Part of collection Student theses Document type master thesis Rights © 2018 Stefhan van der Kemp Files PDF Thesis_FINAL.pdf 50.18 MB Close viewer /islandora/object/uuid:3664c6fd-da05-48b5-a503-a9e373d912a0/datastream/OBJ/view