A Survey on Flexible Exoskeleton Robot

Xing, Luyao; Wang, Meiling; Zhang, Jun; Chen, Xiangyang; Xiao-dong, YE

doi:10.1109/itnec48623.2020.9084920

Cited by 15 publications

(9 citation statements)

References 23 publications

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“…Li et al [ 30 ] proposed a real-time parallel variable stiffness control method by analyzing the SEA interface, discussing the limiting factors of impedance frequency, and combining both safety and high-performance SEA with a cascaded impedance controller with a stiffness adjustment regulator, thus achieving real-time stiffness adjustment of the stiffness and maintaining a certain level of flexibility stability. In addition, the cable drive positively impacts the achievement of flexibility [ 82 ]. Wang et al [ 31 ], on the other hand, used flexible drive materials, such as cables and investigated a cable tension control method for a cable drive unit (CDU) loading system to improve flexibility and reduce the robot's impact on the internal tension of the cable, which was adjusted to improve flexibility and reduce the severe impact of the robot on the human body.…”

Section: Resultsmentioning

confidence: 99%

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Song

Liu

Gao

et al. 2023

Computational Intelligence and Neuroscience

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The application of human factors engineering for rehabilitation robots is based on a “human-centered” design philosophy that strives to provide safe and efficient human-robot interaction training for patients rather than depending on rehabilitation therapists. Human factors engineering for rehabilitation robots is undergoing preliminary investigation. However, the depth and breadth of current research do not provide a complete human factor engineering solution for developing rehabilitation robots. This study aims to provide a systematic review of research at the intersection of rehabilitation robotics and ergonomics to understand the progress and state-of-the-art research on critical human factors, issues, and corresponding solutions for rehabilitation robots. A total of 496 relevant studies were obtained from six scientific database searches, reference searches, and citation-tracking strategies. After applying the selection criteria and reading the full text of each study, 21 studies were selected for review and classified into four categories based on their human factor objectives: implementation of high safety, implementation of lightweight and high comfort, implementation of high human-robot interaction, and performance evaluation index and system studies. Based on the results of the studies, recommendations for future research are presented and discussed.

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Section: Resultsmentioning

confidence: 99%

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Song

Liu

Gao

et al. 2023

Computational Intelligence and Neuroscience

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“…By combining its own mechanical structure, control system and human-computer interaction, the soft exoskeleton achieves assistive force for the wearer on the basis of its own protection and motion intent recognition [6][7][8]. In the past five years, soft Manuscript received 5 December 2022.…”

Section: Introductionmentioning

confidence: 99%

Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton

Sun

Jing

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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Due to the complexity of terrain in natural environments, the soft exoskeleton cannot adaptively adjust parameters to achieve the optimal performance. To this end, a design for a soft exoskeleton assistive force parameter optimization method on multi-terrains is presented in this paper. Firstly, the core control parameters are determined by analyzing the system's motion dynamics. Then, the collected data from inertial measurement unit (IMU) is transferred to the convolutional neural network (CNN) to recognize the certain terrain. In the meanwhile, the control parameters corresponding to the different terrains are optimized by the Bayesian algorithm. Finally, the optimal assistive force parameters are transferred to the system for improving the performance of the soft exoskeleton. The experiment is conducted on three participants, wherein the net metabolic rates of the subjects are compared with and without the assistive force. The final results show that the metabolic rates of the subjects reduce the average value of 19.6% on flat ground, 11.6% on walking uphill, and 12.7% on walking upstairs. The experimental results confirm the effectiveness of the proposed method.

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“…Robots, composed of soft materials, similar to the human bodies or soft exoskeleton one are required instead of the existing rigid-bodied robots built from metals. 5 Such materials must present the flexibility and elastic properties in order to respond to human movement. These materials hold great promise in applications such as artificial muscles, navigation and manipulation, wearable electronics, and medicine.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, there has been a tendency to create fragile robot exoskeletons and internal bones with FDM 3D printers thanks to the development of robots. Robots, composed of soft materials, similar to the human bodies or soft exoskeleton one are required instead of the existing rigid‐bodied robots built from metals 5 . Such materials must present the flexibility and elastic properties in order to respond to human movement.…”

Section: Introductionmentioning

confidence: 99%

Synthesis and fabrication of biobased thermoplastic polyurethane filament for FDM 3D printing

Shin

Jung

Choi

et al. 2022

J of Applied Polymer Sci

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This study describes a soft-actuator grade thermoplastic polyurethane (TPU) with 73 $ 86 shore A, the method of its fabrication and selected properties.The TPU was produced using bio-based synthesized TPU (HP 2.5, HP 3.0, HB 2.5, and HB 3.0) pellets with bio-based polyether-biol (PO3G-1000), and dicyclohexylmethane diisocyanate (H 12 MDI) and bio-based 1,3 propanediol (PDO) and 1,4 butanediol (BDO) as a chain extender. The TPU was formed into a filament for fused deposition modeling (FDM) 3D printers during a melt-extrusion process at 180 $ 220 C. The manufactured TPU filaments were characterized by rheological, chemical, thermal, and mechanical analyses. The equivalence ratio 3.0 with a relatively large amount of HS with BDO as a chain extender, more hydrogen-bonding peaks occurred. The transition temperature and mechanical properties increased depending on the [NCO]:[OH] ratio, and for BDO as the chain extender. However, it was found that when PDO derived from natural material was used, the thermal stability was better. From these results, samples of auxetic re-entrant TPU were printed with the filaments with reference to the melt flow index. The results showed that the biosynthesized HP 3.0 with a hardness of (82 ± 1) shore A was most suitable for FDM 3D printing.

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A Survey on Flexible Exoskeleton Robot

Cited by 15 publications

References 23 publications

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton

Synthesis and fabrication of biobased thermoplastic polyurethane filament for FDM 3D printing

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