A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton

2021 ◽  
pp. 095440622110358
Author(s):  
Zhirui Zhao ◽  
Xing Li ◽  
Mingfang Liu ◽  
Xingchen Li ◽  
Haoze Gao ◽  
...  
Keyword(s):  
Upper Limb ◽  
Control Method ◽  
Human Robot Interaction ◽  
Upper Limb Exoskeleton ◽  
Interaction Control ◽  
Human Arm ◽  
Primary Means ◽  
Arm Motion ◽  
Robot Cooperation ◽  
Arm Strength

The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator’s desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

Design and verification of a human–robot interaction system for upper limb exoskeleton rehabilitation

2020 ◽  
Vol 79 ◽  
pp. 19-25
Author(s):  
Wang Wendong ◽  
Li Hanhao ◽  
Xiao Menghan ◽  
Chu Yang ◽  
Yuan Xiaoqing ◽  
...  
Keyword(s):  
Upper Limb ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Upper Limb Exoskeleton ◽  
Interaction System

scholarly journals A variable admittance control strategy for stable physical human–robot interaction

2019 ◽  
Vol 38 (6) ◽  
pp. 747-765 ◽  
Author(s):  
Federica Ferraguti ◽  
Chiara Talignani Landi ◽  
Lorenzo Sabattini ◽  
Marcello Bonfè ◽  
Cesare Fantuzzi ◽  
...  
Keyword(s):  
Human Robot Interaction ◽  
Admittance Control ◽  
Robot Interaction ◽  
Interaction Control ◽  
Human Arm ◽  
Industrial Operations ◽  
Novel Method ◽  
The Stability ◽  
Stability Issues ◽  
Human Robot Collaboration

Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human–robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.

Redundancy Resolution of the Human Arm and an Upper Limb Exoskeleton

2012 ◽  
Vol 59 (6) ◽  
pp. 1770-1779 ◽  
Author(s):  
Hyunchul Kim ◽  
Levi Makaio Miller ◽  
Nancy Byl ◽  
G. Abrams ◽  
J. Rosen
Keyword(s):  
Upper Limb ◽  
Redundancy Resolution ◽  
Upper Limb Exoskeleton ◽  
Human Arm

scholarly journals Control method of the wearable manipulator based on EMG signals

Mechanik ◽  
2018 ◽  
Vol 91 (7) ◽  
pp. 582-584
Author(s):  
Jarosław Jankowski ◽  
Klaudiusz Ziemek
Keyword(s):  
Neural Networks ◽  
Upper Limb ◽  
Control Method ◽  
Detection Algorithm ◽  
Upper Limb Exoskeleton ◽  
Research Procedure ◽  
Electromyographic Signal ◽  
Preliminary Research

Human integration with the exoskeleton, so that it correctly reflects the intentions of the user, requires the use of an appropriate control method containing an intent detection algorithm. The article presents the assumptions concerning the construction of the upper limb exoskeleton, the preliminary research procedure and the pre-developed methods of controlling the assistance manipulator based on the analysis of the electromyographic signal (EMG) characteristics and the use of neural networks.

scholarly journals Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986318 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Shitong Zhou ◽  
Jing Tang ◽  
Kezhong Chen ◽  
...  
Keyword(s):  
Upper Limb ◽  
Interaction Force ◽  
Center Of Gravity ◽  
Human Robot Interaction ◽  
Whole Body ◽  
Torque Sensor ◽  
Robot Interaction ◽  
End Effector ◽  
Load Compensation ◽  
Upper Limb Exoskeleton

In this article, a method of multi-connection load compensation and load information calculation for an upper-limb exoskeleton is proposed based on a six-axis force/torque sensor installed between the exoskeleton and the end effector. The proposed load compensation method uses a mounted sensor to measure the force and torque between the exoskeleton and load of different connections and adds a compensator to the controller to compensate the component caused by the load in the human–robot interaction force, so that the human–robot interaction force is only used to operate the exoskeleton. Therefore, the operator can manipulate the exoskeleton with the same interaction force to lift loads of different weights with a passive or fixed connection, and the human–robot interaction force is minimized. Moreover, the proposed load information calculation method can calculate the weight of the load and the position of its center of gravity relative to the exoskeleton and end effector accurately, which is necessary for acquiring the upper-limb exoskeleton center of gravity and stability control of whole-body exoskeleton. In order to verify the effectiveness of the proposed method, we performed load handling and operational stability experiments. The experimental results showed that the proposed method realized the expected function.

Sign in / Sign up

Export Citation Format

Share Document