Development and Evaluation of a Wearable Upper Limb Assistive Device with a Remote Center of Motion Mechanism

• DOI: 10.20965/jrm.2024.p1191
• Publication Date: 2024-10-19T15:02:10Z
• Authors: Seishiro Nakamura; Yi Sun; Keisuke Osawa; Eiichiro Tanaka
• Keywords: Center (category theory); Assistive Technology

Workers in factories, construction sites, and farms are often exposed to the risk of physical disability injury. Particularly, lower back shoulders require assistance, as injuries can make it difficult continue working. While social concern about is high preventive measures taken, lesser attention paid shoulders, resulting inadequate assistance prevention mechanisms. Therefore, wearable, low-cost, lightweight upper limb assistive devices that be used multiple scenarios desired by workers. In this study, we proposed a device uses remote center motion (RCM) mechanism, enabling support user’s arm from below, rotational correspond with shoulder joint. The theoretical assist torque designed sufficient for gravity compensation Japanese males standard body size. calculated each joint 8 Nm maximum force was 36.3 N (3.7 kgf). Experimental evaluation using prototype on three healthy adult demonstrated decrease muscle activity approximately 38% anterior deltoid, 31% middle 11% posterior deltoid an average all results dynamic experiment which participants performed indicated movements.