Development of an Upper-Limb Exoskeletal Robot Systemfor Learning Force Decomposition and Synthesis as Teaching Materials

Abstract

In this study, we developed teaching materials to support the understanding of force decomposition and synthesis by an upper-limb exoskeletal robot system. The system was equipped with a pneumatic control model based on force display in the extension direction of elbow joint to create the sensation of lifting a dumbbell. Students can learn the mechanical principles by dynamic computation through mechanism analysis using the system equipped with a pneumatic control model. The system was further evaluated in practical classroom for students in the school of engineering education. The study results showed that the system effectively supports systematic understanding of force decomposition and synthesis using measurement experiments based on the torque produced by a power transmission system using a rack and pinion mechanism, with a pneumatic cylinder providing the driving force.