Investigations into the Form and Design of an Elbow Exoskeleton Using Additive Manufacturing

The commercial exoskeletons are often heavy and bulky, thus reducing the weight and simplifying the form factor becomes a critical task. This thesis details the process of designing and making a low-profile, cable-driven arm exoskeleton. Many advanced methods are explored: 3D scanning, generative design, soft material, compliant joint, additive manufacturing, and 3D latticing. The experiments on TPU kerf cut found that the stress-strain curve of the sample can be modified by changing the cut pattern, it is even possible to control the linear region. The TPU TPMS test showed that given the same volume, changing the lattice parameters can result in different bending stress-strain curves. This thesis also provides many prototypes, test data, and samples for future reference.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2021

Author dc:creator

• Xu, Shang

Chair dc:contributor.committeechair

• Leonessa, Alexander

Committee members dc:contributor.committeemember

• Hauptman, Jonas
• Asbeck, Alan T.

• Exoskeleton
• Generative design
• 3D printing
• Kerf cut joint
• Soft material
• Lattice

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Language dc:language.iso

en

Dc Identifier Other

vt_gsexam:30295

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/103204