Exoskeleton Robot for Rehabilitation ALICE: Jacobian and Workspace Analysis

2021 ◽  
Author(s):  
Manuel Cardona
Keyword(s):  
Exoskeleton Robot ◽  
Workspace Analysis

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

2021 ◽  
Vol 54 (3-4) ◽  
pp. 216-230
Author(s):  
Anan Suebsomran
Keyword(s):  
Supervisory Control ◽  
Electromagnetic Interference ◽  
Medical Application ◽  
Torque Control ◽  
Assistive Device ◽  
Joint Control ◽  
Design Error ◽  
Exoskeleton Robot ◽  
Compliant Actuation ◽  
Wearable Exoskeleton

Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.

Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102610
Author(s):  
Jinsong Zhao ◽  
Tao Yang ◽  
Zhilei Ma ◽  
Chifu Yang ◽  
Zhipeng Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Exoskeleton Robot ◽  
Modal Space

Clinical Utility of an Exoskeleton Robot Using 3-Dimensional Scanner Modeling in Burn Patient: A Case Report

2021 ◽  
Author(s):  
So Young Joo ◽  
Seung Yeol Lee ◽  
Yoon Soo Cho ◽  
Sangho Yi ◽  
Cheong Hoon Seo
Keyword(s):  
Burn Injury ◽  
Hand Function ◽  
Three Dimensional ◽  
The Body ◽  
3D Technology ◽  
Early Management ◽  
3 Dimensional ◽  
Exoskeleton Robot ◽  
Physical Abilities ◽  
Upper Limb Dysfunction

Abstract Hands are the part of the body that are most commonly involved in burns, and the main complications are finger joint contractures and nerve injuries. Hypertrophic scarring cannot be avoided despite early management of acute hand burn injuries, and some patients may need application of an exoskeleton robot to restore hand function. To do this, it is essential to individualize the customization of the robot for each patient. Three-dimensional (3D) technology, which is widely used in the field of implants, anatomical models, and tissue fabrication, makes this goal achievable. Therefore, this report is a study on the usefulness of an exoskeleton robot using 3D technology for patients who lost bilateral hand function due to burn injury. Our subject was a 45-year-old man with upper limb dysfunction of 560 days after a flame and chemical burn injury, with resultant impairment of manual physical abilities. After wearing an exoskeleton robot made using 3D printing technology, he could handle objects effectively and satisfactorily. This innovative approach provided considerable advantages in terms of customization of size and reduction in manufacturing time and costs, thereby showing great potential for use in patients with hand dysfunction after burn injury.

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory

2021 ◽  
pp. 107754632110317
Author(s):  
Jin Tian ◽  
Liang Yuan ◽  
Wendong Xiao ◽  
Teng Ran ◽  
Li He
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Robust Control ◽  
Structural Vibration ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Constraint Problem ◽  
Trajectory Following

The main objective of this article is to solve the trajectory following problem for lower limb exoskeleton robot by using a novel adaptive robust control method. The uncertainties are considered in lower limb exoskeleton robot system which include initial condition offset, joint resistance, structural vibration, and environmental interferences. They are time-varying and have unknown boundaries. We express the trajectory following problem as a servo constraint problem. In contrast to conventional control methods, Udwadia–Kalaba theory does not make any linearization or approximations. Udwadia–Kalaba theory is adopted to derive the closed-form constrained equation of motion and design the proposed control. We also put forward an adaptive law as a performance index whose type is leakage. The proposed control approach ensures the uniform boundedness and uniform ultimate boundedness of the lower limb exoskeleton robot which are demonstrated via the Lyapunov method. Finally, simulation results have shown the tracking effect of the approach presented in this article.

scholarly journals Doublel-robot coordination workspace Analysis based on Matlab

2018 ◽  
Vol 232 ◽  
pp. 03057
Author(s):  
Wei Wang ◽  
Yong Xu
Keyword(s):  
Boundary Surface ◽  
Value Theory ◽  
Working Space ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Solution Equation ◽  
Space Boundary ◽  
Robot Cooperation ◽  
Limit Position ◽  
Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

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