A new biarticular actuator design facilitates control of leg function in BioBiped3

Sharbafi, Maziar Ahmad; Rode, Christian; Kurowski, Stefan; Scholz, Dorian; Möckel, Rico; Radkhah, Katayon; Zhao, Guoping; Rashty, Aida Mohammadinejad; Stryk, Oskar von; Seyfarth, André

doi:10.1088/1748-3190/11/4/046003

Cited by 78 publications

(81 citation statements)

References 43 publications

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“…In Figure 3a, the schematic of Biobiped3 robot ( [21] and the concept of EPA-instrument BioBiped robot (http://www.biobiped.de) are illustrated. In Figure 3b, the SEA for the vastus muscle is replaced by an EPA in which two PAMs are applied in series (SPAM) and in parallel (PPAM) to the actuator.…”

Section: Hardware Experimentsmentioning

confidence: 99%

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Electric-Pneumatic Actuator: A New Muscle for Locomotion

et al. 2017

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Abstract:A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) and an electric motor (EM). In contrast to other VIAs, the pneumatic artificial muscle (PAM) within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel) to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power) and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot) show improved efficiency of the actuator at different frequencies.

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Section: Hardware Experimentsmentioning

confidence: 99%

“…Finally, we tested how PAM compliance adjustment (by setting the air pressure) can reduce energy consumption in periodic movement required in legged locomotion. This last experiment was performed in a knee joint of a bioinspired bipedal robot (BioBiped3 [21]). …”

Section: Introductionmentioning

confidence: 99%

Electric-Pneumatic Actuator: A New Muscle for Locomotion

et al. 2017

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“…Consider that equations of error of system (9) are described in (13). If control law is chosen as (25) and th subsystem sliding surfaces are identified as in (14), then is asymptotically stabilized.…”

Section: Theoremmentioning

confidence: 99%

“…One of the other disadvantages of ZMP is that the robot moves very slowly and unflexibly. In order to improve the flexibility of robot and energy saving capabilities, some authors [7][8][9][10][11][12][13] put elastic components for smooth dynamic motion. By these researches [7][8][9][10][11][12][13], robot is flexible when the feet of robot still exist.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Nguyen

Huynh

Nguyen

et al. 2017

Journal of Robotics

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Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

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“…61 Facilitating control with compliant biarticular actuators: Studies on 62 biomechanics of human gaits and robotics show that biarticular muscles help to 63 generate motions in a more energy efficient way [34,42]. In fact, these muscles actuate 64 two joints simultaneously, transfer the energy towards distal joints and further control 65 the output force direction [34,43], [35]. Given these features, biarticular assistive devices 66 can be more effective in reducing energy consumption during walking.…”

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confidence: 99%

From a biological template model to gait assistance with an exosuit

Firouzi

Davoodi

Bahrami

et al. 2020

Preprint

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By invention of soft wearable assistive devices, known as exosuits, a new aspect in assisting unimpaired subjects is introduced. In this study, we designed and developed an exosuit with compliant biarticular thigh actuators, called BAExo. Unlike common method of using rigid actuators in exosuits, the BAExo is made of serial elastic actuators (SEA) resembling artificial muscles (AM). This bioinsipred design is complemented by the novel control concept of using the ground reaction force to adjust these AMs' stiffness in the stance phase. By locking the motors in the swing phase the SEAs will be simplified to passive biarticular springs, which is sufficient for leg swinging. The key concept in our design and control approach is synthesizing human locomotion to develop assistive device, instead of copying the outputs of human motor control. Analysing human walking assistance using an experiment-based OpenSim model demonstrates the advantages of the proposed design and control of BAExo, regarding metabolic cost reduction and efficiency of the system. In addition, pilot experiments with the recently developed BAExo hardware support the applicability of the introduced method. Author summaryAging and mobility of elderly people are of crucial concern in developed countries. The U.S. Census Bureau reports that by the middle of the 21st century, about 80 million Americans will be 65 or older. According to the group's research, medical costs resulting from falls by the elderly are expected to approach $32.4 billion by 2020. Therefore, assistance of elderly people and making the assistive devices more intelligent is a need in near future. However, this is not the only application of assistive devices. Exosuits, as soft wearable robots, introduced a new aspect in assisting a large range of population, even healthy young people. We introduce a novel design and control method for a new exosuit. As the research in the field of wearable assistive devices is growing in recent years and its application in daily life becomes more evident for the society, such studies with a unique view in design and control could have a significant impact. Our proposed biologically inspired approach could be potentially applied to other exosuits. Introduction 1 Lower limb exoskeletons for assisting people with decreased locomotion abilities has 2 attracted the attention of researchers [1] and the healthcare industry [2, 3]. Assistive 3 March 21, 2020 1/24 6 about aging. For example, by aging, muscle force and power decrease and to reduce the 7 cost of elderly and patients locomotion, assistive devices are demanded [6, 7]. 8 One of the common goals of assistive device designers is to reduce the metabolic cost 9 of locomotion [8]. This feature is important in all above-mentioned cases and situations. 10 In the last couple of years researchers have succeeded in significantly improving the 11 metabolic cost reduction in human gaits using powered exoskeletons [1,[9][10][11]. 12Powered exoskeletons can be categorized as (1) traditional ones with rigid stru...

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A new biarticular actuator design facilitates control of leg function in BioBiped3

Cited by 78 publications

References 43 publications

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

From a biological template model to gait assistance with an exosuit

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