A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking

Fang, Qianqian; Li, Ge; Xu, Tian; Zhao, Jie; Cai, Hao; Zhu, Yanhe

doi:10.1155/2019/4602035

Cited by 6 publications

(4 citation statements)

References 34 publications

(34 reference statements)

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“…In order to ensure that the robot tracks the desired trajectories, the robot controller algorithm is designed. In this study, the classical computed torque method [ 34 ] is applied to the trajectory tracking control. By assuming that the desired joint trajectory

is the function of time, the desired joint position

, desired joint velocity

, and desired joint acceleration

can then be output by a trajectory planning algorithm at any moment [ 35 ].…”

Section: Robot Modelling and Controlmentioning

confidence: 99%

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Liu

Chen

Song

et al. 2021

Sensors

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The development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.

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is the function of time, the desired joint position

, desired joint velocity

, and desired joint acceleration

can then be output by a trajectory planning algorithm at any moment [ 35 ].…”

Section: Robot Modelling and Controlmentioning

confidence: 99%

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Liu

Chen

Song

et al. 2021

Sensors

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show abstract

“…Inverse dynamic models have been extensively used when designing exosuits for upper limb assistance, as in [18][19][20]. Inverse dynamics in the field of lower-limb assistive exosuits can be found in the recent literature, as in [2], although the results have rarely been studied with regard to their implication on the design of an exosuit.…”

Section: Introductionmentioning

confidence: 99%

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Jorge

Bermejo-Garcìa

Jayakumar

et al. 2022

Sensors

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Soft exosuits stand out when it comes to the development of walking-assistance devices thanks to both their higher degree of wearability, lower weight, and price compared to the bulkier equivalent rigid exoskeletons. In cable-driven exosuits, the acting force is driven by cables from the actuation system to the anchor points; thus, the user’s movement is not restricted by a rigid structure. In this paper, a 3D inverse dynamics model is proposed and integrated with a model for a cable-driven actuation to predict the required motor torque and traction force in cables for a walking-assistance exosuit during gait. Joint torques are to be shared between the user and the exosuit for different design configurations, focusing on both hip and ankle assistance. The model is expected to guide the design of the exosuit regarding aspects such as the location of the anchor points, the cable system design, and the actuation units. An inverse dynamics analysis is performed using gait kinematic data from a public dataset to predict the cable forces and position of the exosuit during gait. The obtained joint reactions and cable forces are compared with those in the literature, and prove the model to be accurate and ready to be implemented in an exosuit control scheme. The results obtained in this study are similar to those found in the literature regarding the walking study itself as well as the forces under which cables operate during gait and the cable position cycle.

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“…[2] proposed the tracking control of a four-DOF cable-driven upper limb robot to move the whole upper limb along desired trajectories. Moreover, inverse dynamics modeling was designed for a new rehabilitating system with a parallel joint for tracking the reference trajectory [20]. In 2020, a new four-DOF robotic cable-driven upper limb robot with pneumatic artificial muscle actuators was studied and motion control was applied for the trajectory control [21].…”

Section: Introductionmentioning

confidence: 99%

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Seyfi

Khalaji

2022

Robotica

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This research presents an upper limb cable-driven rehabilitating robot with one degree of redundancy to improve the movements of the injured. A spatial trajectory is planned through the joint limit avoidance approach to apply the limits of the joint angles, which is a new method for trajectory planning of joints with an allowed definite interval. Firstly, a Lyapunov-based control is applied to the robot with taking uncertainty and disturbances into consideration. To derive the best responses of the system with considering uncertainty and disturbances, a novel robust tracking controller, namely a computed-torque-like with independent-joint compensation, is introduced. The mentioned new robust controller has not been applied to any cable robot which is the novelty of this paper to derive a superior output and the robustness of the given approach. Stability analysis of both controllers is demonstrated and the outputs of the controllers are compared for an exact three-dimensional motion planning and desirable cable forces. Eventually, the proposed novel controller revealed a better function in the presence of uncertainties and disturbances with about 28.21% improvement in tracking errors and 69.22% improvement in the required cable forces as control inputs, which is a considerable figure.

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A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking

Cited by 6 publications

References 34 publications

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

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