Synthesis of Slender Spatial Compliant Mechanisms with application to passive exoskeletons

Doctoral thesis (2023)

Authors

A. Amoozandeh Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 A. Amoozandeh
DOI: https://doi.org/10.4233/uuid:4be5a4e1-7c68-4a28-a1ba-4cff02a9f024
Spatial Compliant Mechanisms Spatially Curved Beams Passive Exoskeletons Zero Torsional Stiffness Compliant Transmission Anisotropic Variable Stiffness
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

Industrial passive exoskeletons have been developed for years as a tool to reduce the physical workload of their users. They accomplish this by compensating for the user’s body weight and decreasing fatigue caused by repetitive loads. Despite their advantages, current exoskeletons have drawbacks that make them less convenient for users and thus less common as a supporting tool. Among the other issues, the most important are impeded and reduced movement, posture strain, and increased discomfort. This thesis proposes designs for spatial compliant mechanisms to address these issues in exoskeletons.