scholarly journals Sensor Reduction, Estimation, and Control of an Upper-Limb Exoskeleton

2021 ◽  
pp. 1-1
Author(s):  
Jianwei Sun ◽  
Yang Shen ◽  
Jacob Rosen
Keyword(s):  
Upper Limb ◽  
Upper Limb Exoskeleton ◽  
Estimation And Control ◽  
Sensor Reduction ◽  
And Control

scholarly journals Design of Master-slave velocity tracking Upper-limb Exoskeleton system and Feed-forward compensation control

2021 ◽  
Author(s):  
Dezhi Kong ◽  
Wendong Wang ◽  
Yikai Shi
Keyword(s):  
Angular Velocity ◽  
Upper Limb ◽  
Rotation Velocity ◽  
Measurement Unit ◽  
Inertia Moment ◽  
Feed Forward ◽  
Acceleration Signal ◽  
Upper Limb Exoskeleton ◽  
Wireless Module ◽  
And Control

Abstract In this paper, we propose a design approach of mirror driving master-slave upper limb exoskeleton based on inertia measurement unit (IMU) system and ZigBee wireless network transmission system. By integrating two gyroscopes on the master side, we can conduct measurement of rotation velocity and acceleration signal and control over a larger range of motion (ROM) of the exoskeleton. The angular velocity information is transmitted to the controller on the paretic side through ZigBee wireless module. Applying the Lagrangian dynamic equation and Geometric projection method, the 3-axes angular velocity are converted into the reference angular velocity control signal of four joint motors of the rehabilitation upper limb exoskeleton. Moreover, a novel control scheme based on inertia moment and gravity moment feed-forward compensation is proposed. The simulation results demonstrate that the controller can enhance the performance according to the responding speed and stability. Experimental results show that the designed scheme of the mirror driving master-slave upper limb exoskeleton system is completely feasible and realizable.

Modular design and control of an upper limb exoskeleton

2016 ◽  
Vol 30 (5) ◽  
pp. 2265-2271 ◽  
Author(s):  
Javier Garrido ◽  
Wen Yu ◽  
Xiaoou Li
Keyword(s):  
Upper Limb ◽  
Modular Design ◽  
Upper Limb Exoskeleton ◽  
And Control

scholarly journals Human Weight Compensation with a Backdrivable Upper-Limb Exoskeleton: Identification and Control

2021 ◽  
Author(s):  
Dorian VERDEL ◽  
Simon Bastide ◽  
Nicolas Vignais ◽  
Olivier Bruneau ◽  
Bastien Berret
Keyword(s):  
Upper Limb ◽  
Elbow Flexion ◽  
Population Based ◽  
Model Errors ◽  
Tracking Errors ◽  
Upper Limb Exoskeleton ◽  
Weight Support ◽  
Flexion Extension ◽  
Weight Compensation ◽  
And Control

Abstract Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders in workers. In particular, exoskeletons implementing human limb’s weight support are interesting to restore some mobility in patients with muscle weakness and help in occupational load carrying tasks. The present study aims at improving weight support of the upper limb by providing a weight model considering joint misalignments and a control law including feedforward terms learned from a prior population-based analysis. Three experiments, for design and validation purposes, are conducted on a total of 65 participants who performed posture maintenance and elbow flexion/extension movements. The introduction of joint misalignments in the weight support model significantly reduced the model errors, in terms of weight estimation, and enhanced the estimation reliability. The introduced control architecture reduced model tracking errors regardless of the condition. Weight support significantly decreased the activity of antigravity muscles, as expected, but increased the activity of elbow extensors because gravity is usually exploited by humans to accelerate a limb downwards. These findings suggest that an adaptive weight support controller could be envisioned to further minimize human effort in certain applications.

scholarly journals Human Weight Compensation With a Backdrivable Upper-Limb Exoskeleton: Identification and Control

2022 ◽  
Vol 9 ◽  
Author(s):  
Dorian Verdel ◽  
Simon Bastide ◽  
Nicolas Vignais ◽  
Olivier Bruneau ◽  
Bastien Berret
Keyword(s):  
Upper Limb ◽  
Elbow Flexion ◽  
Population Based ◽  
Model Errors ◽  
Tracking Errors ◽  
Upper Limb Exoskeleton ◽  
Weight Support ◽  
Flexion Extension ◽  
Weight Compensation ◽  
And Control

Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders in workers. In particular, exoskeletons implementing human limb’s weight support are interesting to restore some mobility in patients with muscle weakness and help in occupational load carrying tasks. The present study aims at improving weight support of the upper limb by providing a weight model considering joint misalignments and a control law including feedforward terms learned from a prior population-based analysis. Three experiments, for design and validation purposes, are conducted on a total of 65 participants who performed posture maintenance and elbow flexion/extension movements. The introduction of joint misalignments in the weight support model significantly reduced the model errors, in terms of weight estimation, and enhanced the estimation reliability. The introduced control architecture reduced model tracking errors regardless of the condition. Weight support significantly decreased the activity of antigravity muscles, as expected, but increased the activity of elbow extensors because gravity is usually exploited by humans to accelerate a limb downwards. These findings suggest that an adaptive weight support controller could be envisioned to further minimize human effort in certain applications.

scholarly journals Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 123
Author(s):  
Narek Zakaryan ◽  
Mikayel Harutyunyan ◽  
Yuri Sargsyan
Keyword(s):  
Upper Limb ◽  
Mechanical Design ◽  
Artificial Muscle ◽  
Design Parameters ◽  
Upper Limb Exoskeleton ◽  
System A ◽  
Rehabilitation Robots ◽  
Point Control ◽  
And Control ◽  
Human Upper Limb

Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control (EP) of a new human upper limb exoskeleton. Considering the upper limb as a multi-muscle redundant system, a similar over-actuated but cable-driven mechatronic system is developed to imitate upper limb motor functions. Additional torque adjusting systems at the joints allow users to lift light weights necessary for activities of daily living (ADL) without increasing electric motor powers of the device. A theoretical model of the “ideal” artificial muscle exoskeleton is also developed using Hill’s natural muscle model. Optimal design parameters of the exoskeleton are defined using the differential evolution (DE) method as a technique of a multi-objective optimization. The proposed cable-driven exoskeleton was then fabricated and tested on a healthy subject. Results showed that the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehabilitation robots. Further studies may include a spatial mechanism design, which is especially important for the shoulder rehabilitation, and development of reinforcement learning control algorithms to provide more efficient rehabilitation treatment.

Sign in / Sign up

Export Citation Format

Share Document