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Mechanical design of a passive upper limb exoskeleton for industrial use

keywords BIOMECHANICS, CAD, FEM, INDUSTRIAL EXOSKELETON, MECHANICAL DESIGN

Reference persons CARLO DE BENEDICTIS, CARLO FERRARESI

External reference persons Maria Paterna, maria.paterna@polito.it

Research Groups 04-Automazione e Robotica

Thesis type NUMERICAL AND EXPERIMENTAL

Description The activity of the thesis student will be part of the project that led to the creation of a first prototype of a passive exoskeleton for upper limbs that exploits the action of two artificial pneumatic muscles to help workers keep their arms above shoulder level for long periods of time. The research activity has already led to the creation of a first prototype that allows a flexion-extension of the shoulder between 90 and 135 and the abduction-adduction of the shoulder between 0 and 30. During the testing phase of the device, however, some critical issues emerged that require further work. In particular, the student will be required to work on one or more of the following points:
Redesign of the mechanism for connecting the exoskeleton arms to the rear frame;
Redesign of the adjustment systems of the rigid structure of the exoskeleton to facilitate its adaptation to the physical characteristics of the user;
Redesign of the anchor points between the rigid frame and the harness that allows the user to wear the exoskeleton;
Design of the mechanism for disengaging the pneumatic muscle and/or adjusting the length of the wire to facilitate shoulder flexion below 90;
Lightening of the structure.

Required skills mechanical design; CAD design and production of mechanical parts; static finite element analysis


Deadline 20/03/2024      PROPONI LA TUA CANDIDATURA




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