This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.

• Dmitry Popov(School of Mechanical Engineering, KOREATECH)
• 이광현(School of Mechanical Engineering, KOREATECH) | Kwang-Hyun Lee
• Igor Gaponov(School of Mechanical Engineering, KOREATECH)
• 유지환(School of Mechanical Engineering, KOREATECH) | Jee-Hwan Ryu Corresponding author