An application of scissored-pair control moment gyroscopes in a design of wearable balance assistance device for the elderly

Romtrairat, Parineak; Virulsri, Chanyaphan; Tangpornprasert, Pairat

doi:10.1016/j.jbiomech.2019.03.015

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…Three potential one-dof SRTs are proposed; a linear counter mass (LCM), reaction wheel (RW) and swinging arc (Arc) tails as illustrated in Fig. 3 with the RW taking inspiration from [13,14] and Arc from [16]. In particular, interest lays in the method upon which the three proposed kinematic structures of the tails augment human balance and if an optimal structure exists.…”

Section: One-dof Tailsmentioning

confidence: 99%

“…The first limb of the five-bar tail is mounted at a height ℎ 𝑡 and the second a further distance 𝑑 3 away. For both two-dof tails, the links' mass is distributed at their respective midpoints , (13) for (𝑖, 𝑗) = (𝑡1, 𝑡2), (2𝑎, 2𝑏), (3𝑎, 3𝑏) . The frame transforms and values of the physical parameters are tabulated in Table 4.…”

Section: Parameter and Frame Assignmentmentioning

confidence: 99%

“…Control moment gyroscopic (CMG) assist systems and supernumerary robotic tails (SRTs) provide human balance assistance without augmenting the BoS. In CMG systems, the principal of precession is utilised to counteract the torque caused by postural sway [13,14]. Supernumerary tails take inspiration from nature where animals use them for motion and balance augmentation; 1 Corresponding Author.…”

Section: Introductionmentioning

confidence: 99%

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Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Abeywardena

Anwar

Miller

et al. 2023

Journal of Mechanisms and Robotics

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Humans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance thanks to neuro-muscular sensory control properties. With increasing levels of balance related incidents in industrial and ageing populations globally each year, the development of assistive mechanisms to augment human balance is paramount. This work investigates the mechanical characteristics of kinematically dissimilar one and two degrees-of-freedom supernumerary robotic tails for balance augmentation. Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-dof tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-dof options, the characteristics of open versus closed loop tails is investigated, with the ultimate design selection requiring trade-offs between environmental workspace, biomechanical factors and manufacturing ease to be made.

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Section: One-dof Tailsmentioning

confidence: 99%

Section: Parameter and Frame Assignmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Abeywardena

Anwar

Miller

et al. 2023

Journal of Mechanisms and Robotics

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“…Gyroscopic systems and robotic tails mounted posterior to the trunk have been used to provide human balance assistance with independent kinematic workspaces to the mailto: {s.abeywardena,i.farkhatdinov}@qmul.ac.uk NLs. In gyroscopic systems, the principal of precession is utilised to counteract the torque caused by postural sway [8], [9]. Whilst these systems provide balance, they come at the cost of significant added mass of 10-16 kg with an extra 10 kg shown to be detrimental to the motion of human NLs [10].…”

Section: Introductionmentioning

confidence: 99%

Human balance augmentation via a supernumerary robotic tail

Abeywardena

Anwar

Miller

et al. 2022

2022 44th Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

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Humans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance thanks to muscular and neuro-sensory properties whilst still exhibiting postural sway characteristics. This work introduces a one-degree-of-freedom supernumerary tail for balance augmentation in the sagittal plane to negate anteriorposterior postural sway. Simulations showed that the tail could successfully balance a human with impaired ankle stiffness and neural control. Insights into tail design and control were made; namely, to minimise muscular load the tail must have a significant component in the direction of the muscle load, mounting location of the tail is significant in maximising inertial properties for balance augmentation and that adaptive control will exploit augmentation characteristic of the tail best for different loads held by a wearer.

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“…Such a system could ultimately constitute a highly portable and wearable hands-free device that is easy to don and doff, and serve a hitherto-neglected patient group struggling with mobility due to impaired balance. Although we have recently demonstrated the efficacy of wearable gyroscopic actuators for balance perturbation 18 , only simulations 17,[19][20][21] and technical designs [22][23][24] have been reported for the purpose of balance assistance.…”

mentioning

confidence: 99%

Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance

Lemus

Berry

Jabeen

et al. 2020

Sci Rep

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Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a backpack-like prototype portable robot, to investigate the hypothesis that the balance of both healthy and chronic stroke subjects can be augmented through moments applied to the upper body. We quantified balance performance in terms of each participant's ability to walk or remain standing on a narrow support surface oriented to challenge stability in either the frontal or the sagittal plane. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. A rotational viscous field increased the distance healthy participants could walk along a 30mm-wide beam by a factor of 2.0, compared to when the GyBAR was worn but inactive. The same controller enabled individuals with chronic stroke to remain standing for a factor of 2.5 longer on a narrow block. Due to its wearability and versatility of control, the GyBAR could enable new therapy interventions for training and rehabilitation.

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An application of scissored-pair control moment gyroscopes in a design of wearable balance assistance device for the elderly

Cited by 9 publications

References 18 publications

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Human balance augmentation via a supernumerary robotic tail

Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance

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