A Discrete Non-Linear Series Elastic Actuator for Active Ankle-Foot Orthoses

DeBoer, Benjamin; Hosseini, Ali; Rossa, Carlos

doi:10.1109/lra.2022.3167065

Cited by 12 publications

(4 citation statements)

References 14 publications

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“…• Hunt et al [55] retrieved the optimal actuator location, maximizing its stiffness volume both for (i) translation and (ii) rotation of their shoulder exoskeleton for assistive use; • Deboer et al [62] retrieved the optimal link lengths, spring stiffness values, angles, and displacements that minimize (i) the peak power and (ii) the total length of the two actuators of their leg exoskeleton for assistive use; • Paez et al [63] retrieved the optimal link lengths and joint locations that minimize (i) the moment load at the joint, (ii) the difference between the natural human posture and that observed while wearing the exoskeleton to promote a natural torso motion, and (iii) the torque deviation to match a linear profile while independently maximizing the torque output of their knee exoskeleton for assistive use; and • Rituraj et al [68] retrieved the optimal link lengths and angles that minimize (i) the maximum distance between the actuators and (ii) the load on the device of their assistive/rehabilitative knee exoskeleton for rehabilitation and assistive use.…”

Section: Weight-based Genetic Algorithm (Wbga)mentioning

confidence: 99%

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

Stroppa,

Soylemez,

Yuksel

et al. 2023

Robotics

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Exoskeleton devices are designed for applications such as rehabilitation, assistance, and haptics. Due to the nature of physical human–machine interaction, designing and operating these devices is quite challenging. Optimization methods lessen the severity of these challenges and help designers develop the device they need. In this paper, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of exoskeletons. We completed the search in the IEEE, ACM, and MDPI databases between 2017 and 2023 using the keywords “exoskeleton”, “design”, and “optimization”. We categorized our findings in terms of which limb (i.e., hand, wrist, arm, or leg) and application (assistive, rehabilitation, or haptic) the exoskeleton was designed for, the optimization metrics (force transmission, workspace, size, and adjustability/calibration), and the optimization method (categorized as evolutionary computation or non-evolutionary computation methods). We discuss our observations with respect to how the optimization methods have been implemented based on our findings. We conclude our paper with suggestions for future research.

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Section: Weight-based Genetic Algorithm (Wbga)mentioning

confidence: 99%

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

Stroppa,

Soylemez,

Yuksel

et al. 2023

Robotics

View full text Add to dashboard Cite

show abstract

“…Device actuation is governed by important design considerations other than sensor modality optimization such as mechanical efficiency, size, weight and portability. Conventional actuators used in exoskeletons are electric actuators, pneumatic actuators, hydraulic actuators in addition to some modern actuators such as series elastic actuators and pneumatic artificial muscles [26].…”

Section: Related Workmentioning

confidence: 99%

A Light-Weight Artificial Neural Network for Recognition of Activities of Daily Living

Mohamed

Martinez-Hernandez

2023

Sensors

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Human activity recognition (HAR) is essential for the development of robots to assist humans in daily activities. HAR is required to be accurate, fast and suitable for low-cost wearable devices to ensure portable and safe assistance. Current computational methods can achieve accurate recognition results but tend to be computationally expensive, making them unsuitable for the development of wearable robots in terms of speed and processing power. This paper proposes a light-weight architecture for recognition of activities using five inertial measurement units and four goniometers attached to the lower limb. First, a systematic extraction of time-domain features from wearable sensor data is performed. Second, a small high-speed artificial neural network and line search method for cost function optimization are used for activity recognition. The proposed method is systematically validated using a large dataset composed of wearable sensor data from seven activities (sitting, standing, walking, stair ascent/descent, ramp ascent/descent) associated with eight healthy subjects. The accuracy and speed results are compared against methods commonly used for activity recognition including deep neural networks, convolutional neural networks, long short-term memory and convolutional–long short-term memory hybrid networks. The experiments demonstrate that the light-weight architecture can achieve a high recognition accuracy of 98.60%, 93.10% and 84.77% for seen data from seen subjects, unseen data from seen subjects and unseen data from unseen subjects, respectively, and an inference time of 85 μs. The results show that the proposed approach can perform accurate and fast activity recognition with a reduced computational complexity suitable for the development of portable assistive devices.

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“…SEAs 44,52,70,93,94 are commonly configured in motor-based power transmission systems. They transform motor rotations into spring deflections.…”

Section: Design Factorsmentioning

confidence: 99%

Recent advances in wearable actuated ankle-foot orthoses: Medical effects, design, and control

Zhou

2022

Proc Inst Mech Eng H

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This paper presents a survey on recent advances of wearable actuated ankle-foot orthoses (AAFOs). First of all, their medical functions are investigated. From the short-term aspect, they lead to rectification of pathological gaits, reduction of metabolic cost, and improvement of gait performance. After AAFO-based walking training with sufficient time, free walking performance can be enhanced. Then, key design factors are studied. First, primary design parameters are investigated. Second, common actuators are analysed. Third, human-robot interaction (HRI), ergonomics, safety, and application places, are considered. In the following section, control technologies are reviewed from the aspects of rehabilitation stages, gait feature quantities, and controller characteristics. Finally, existing problems are discussed; development trends are prospected.

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A Discrete Non-Linear Series Elastic Actuator for Active Ankle-Foot Orthoses

Cited by 12 publications

References 14 publications

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

A Light-Weight Artificial Neural Network for Recognition of Activities of Daily Living

Recent advances in wearable actuated ankle-foot orthoses: Medical effects, design, and control

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