Design of hybrid drive exoskeleton robot XoR2

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.

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Gait Phase Detection of Exoskeleton Robot Based on the Joints Angle of Lower Limb

Proceedings of the 4th International Conference on Computer Science and Application Engineering ◽

10.1145/3424978.3425067 ◽

2020 ◽

Author(s):

Wang Jiang ◽

Jianbin Zheng ◽

Liping Huang

Keyword(s):

Lower Limb ◽

Phase Detection ◽

Exoskeleton Robot ◽

Gait Phase

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

Mechatronics ◽

10.1016/j.mechatronics.2021.102610 ◽

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

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Analysis of the Total Unit Energy Consumption of a Car with a Hybrid Drive System in Real Operating Conditions

Energies ◽

10.3390/en14133966 ◽

2021 ◽

Vol 14 (13) ◽

pp. 3966

Author(s):

Jarosław Mamala ◽

Michał Śmieja ◽

Krzysztof Prażnowski

Keyword(s):

Energy Consumption ◽

Internal Combustion Engine ◽

Electric Drive ◽

Combustion Engine ◽

Internal Combustion ◽

Operating Conditions ◽

Hybrid Drive ◽

Total Unit ◽

Unit Energy ◽

Unit Energy Consumption

The market demand for vehicles with reduced energy consumption, as well as increasingly stringent standards limiting CO2 emissions, are the focus of a large number of research works undertaken in the analysis of the energy consumption of cars in real operating conditions. Taking into account the growing share of hybrid drive units on the automotive market, the aim of the article is to analyse the total unit energy consumption of a car operating in real road conditions, equipped with an advanced hybrid drive system of the PHEV (plug-in hybrid electric vehicles) type. In this paper, special attention has been paid to the total unit energy consumption of a car resulting from the cooperation of the two independent power units, internal combustion and electric. The results obtained for the individual drive units were presented in the form of a new unit index of the car, which allows us to compare the consumption of energy obtained from fuel with the use of electricity supported from the car’s batteries, during journeys in real road conditions. The presented research results indicate a several-fold increase in the total unit energy consumption of a car powered by an internal combustion engine compared to an electric car. The values of the total unit energy consumption of the car in real road conditions for the internal combustion drive are within the range 1.25–2.95 (J/(kg · m)) in relation to the electric drive 0.27–1.1 (J/(kg · m)) in terms of instantaneous values. In terms of average values, the appropriate values for only the combustion engine are 1.54 (J/(kg · m)) and for the electric drive only are 0.45 (J/(kg · m)) which results in the internal combustion engine values being 3.4 times higher than the electric values. It is the combustion of fuel that causes the greatest increase in energy supplied from the drive unit to the car’s propulsion system in the TTW (tank to wheels) system. At the same time this component is responsible for energy losses and CO2 emissions to the environment. The results were analysed to identify the differences between the actual life cycle energy consumption of the hybrid powertrain and the WLTP (Worldwide Harmonized Light-Duty Test Procedure) homologation cycle.

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

Journal of Burn Care & Research ◽

10.1093/jbcr/irab060 ◽

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.

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Optimal Control for a Hydraulic Recuperation System Using Endoreversible Thermodynamics

Applied Sciences ◽

10.3390/app11115001 ◽

2021 ◽

Vol 11 (11) ◽

pp. 5001

Author(s):

Robin Masser ◽

Karl Heinz Hoffmann

Keyword(s):

Optimal Control ◽

Fuel Consumption ◽

Energy Savings ◽

Combustion Engine ◽

Mechanical Energy ◽

Hydraulic Systems ◽

Commercial Vehicles ◽

Hybrid Drive ◽

Environmental Considerations ◽

Onboard System

Energy savings in the traffic sector are of considerable importance for economic and environmental considerations. Recuperation of mechanical energy in commercial vehicles can contribute to this goal. One promising technology rests on hydraulic systems, in particular for trucks which use such system also for other purposes such as lifting cargo or operating a crane. In this work the potential for energy savings is analyzed for commercial vehicles with tipper bodies, as these already have a hydraulic onboard system. The recuperation system is modeled based on endoreversible thermodynamics, thus providing a framework in which realistic driving data can be incorporated. We further used dissipative engine setups for modeling both the hydraulic and combustion engine of the hybrid drive train in order to include realistic efficiency maps. As a result, reduction in fuel consumption of up to 26% as compared to a simple baseline recuperation strategy can be achieved with an optimized recuperation control.

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