John Taylor Golden

summary

The following paper proposes an extension to the original design by Miguel Castro. A circular scissor mechanism serves as the basis to the shoulder exoskeleton, in which the base of the mechanism is fixed to a plate on the scapula and the other to the side of the bicep. Rotary encoders where placed on the three center joints of the mechanism, and the inverse kinematics for a RR-chain is solved to get the angles of flexion/extension and horizontal abduction. The follow-up paper will be processed soon by the reviewers and additional information will be added.

takeaways

1: Learning to communicate technical information with medical field professionals (i.e. clinicans, surgeons, etc.)
2: Designing professional quality mechanical prototypes that can be used by clincians easily
3: Basic mechantronics and learning to interpret SPI signals from rotary encoders

more information

[1] Jiaji Li, John Golden, Dr. Bailey E. Johnson, Mr. Edward Quilligan, Dr. Vance O. Gardner, Dr. Carlos A. Prietto, and Dr. John McCarthy. SPHERICAL EXOSKELETON FOR THE MEASUREMENT OF SHOULDER MOVEMENT. Transactions of the Canadian Society for Mechanical Engineering Link to publication.

[2] J. Li, J. Golden, B. Johnson, E. Quilligan, V. Gardner, C. Prietto, and J. McCarthy, “Spherical exoskeleton for the measurement of shoulder movement”, Accepted to CCToMM (2023) Link to publication.

gallery

A solid model of the spherical exoskeleton system that shows thespherical scissor mechanism that wraps around the shoulder of the patient.

The two-revolute robotic arm on the shoulder joint showing baseframe and end-effector frame. The left figure is the position of initial state. Theright figure is the position of flexion 90◦ and horizontal external rotation 45◦.

Photographs of flexion and external rotation test using the rebuiltshoulder exoskeleton (black). (a) Initial position, side view, (b) flexion move-ment, side view, (c) flexion movement, top view, (d) external rotation, top view.