Assistance of the elbow flexion motion on the active elbow orthosis using muscular stiffness force feedback

Kim, Kyung; Hong, Kyung-Ju; Kim, Nam-Gyun; Kwon, Tae-Kyu

doi:10.1007/s12206-011-0923-9

Cited by 14 publications

(11 citation statements)

References 10 publications

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“…In recent years, the design and control of McKibben actuators have been prominent research areas, especially in the field of soft and wearable robotics. In fact, different works focused on healthcare applications such as rehabilitation, mobility enhancement, and prosthetics [10], [11], [12]. However, due to the complex material mechanics of McKibben actuators, they resulted to be more challenging to control than traditional actuator technologies.…”

Section: Introductionmentioning

confidence: 99%

A piezoresistive flexible sensor to detect soft actuator deformation

Maselli

Zrinscak

Magliola

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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A textile-based strain sensor for measuring the length of a McKibben pneumatic actuator has been developed. McKibben actuators are flexible, lightweight, and widely used in all those applications where compliance and safety are required, e.g. soft robotics and power assisting device. The actuator length needs to be measured to control the device accurately. However, properties such as flexibility and lightness might be lost if rigid sensors such as potentiometers or linear encoders are directly attached to the actuators. For this reason, flexible and stretchable sensors are necessary. In this study, a flexible sensor using conductive textile is proposed to actively measure the length of manufactured McKibben actuators. Firstly, the electro-mechanical characteristics of the proposed sensor were obtained and a model to compensate its nonlinearities was evaluated. Secondly, an estimation of the accuracy was performed during dynamic actuator contractions. The results showed that, using this sensor, a direct measurement of the actuator axial displacement can be obtained within 20% error, without affecting its performances in terms of contraction.

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Section: Introductionmentioning

confidence: 99%

A piezoresistive flexible sensor to detect soft actuator deformation

Maselli

Zrinscak

Magliola

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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“…Compared to DC motors, pneumatic actuators offer a higher power-to-weight ratio, excluding the actuator infrastructure, and compliant actuation. Of the 12 devices using pneumatic actuators, nine used PAMs, 16,20,26,32,35,42,48,64,72 2 used pneumatic bending actuators, [75][76][77] and 1 used a pneumatic cylinder actuator. 39 PAM actuators consist of an inflatable bladder inside a braided mesh that is clamped on both ends.…”

Section: %mentioning

confidence: 99%

“…In terms of computer system software, a similar trend can be seen towards researchers using off-the-shelf software systems. The review reveals that 51% of the studies reported the use of off-the-shelf software with MATLAB (25% of the devices), 16,19,23,[26][27][28]32,41,46,48,52,55,65 including the Simulink tool kit, 26,63,65 and LabVIEW (15% of the devices) 21,25,26,35,40,51,54,57 being the most popular. Other software systems mentioned were OpenSim, 18 SolidWorks, 16,24,28,74,75 SimMechanics, 16,[43][44][45] ControlDesk, 17 Emotiv Cognitiv Suite, 21 OpenSignals, 24,28 Presentation, 23 Datalog, 22 DAFUL, 36,46 FEMAP, 36 MPLAB, 65 BCI2000 Framework, 29,54 and XVR.…”

Section: Computationmentioning

confidence: 99%

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Desplenter

Zhou

Edmonds

et al. 2020

Journal of Rehabilitation and Assistive Technologies Engineerin

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Recently, there has been a trend toward assistive mechatronic devices that are wearable. These devices provide the ability to assist without tethering the user to a specific location. However, there are characteristics of these devices that are limiting their ability to perform motion tasks and the adoption rate of these devices into clinical settings. The objective of this research is to perform a review of the existing wearable assistive devices that are used to assist with musculoskeletal and neurological disorders affecting the upper limb. A review of the existing literature was conducted on devices that are wearable, assistive, and mechatronic, and that provide motion assistance to the upper limb. Five areas were examined, including sensors, actuators, control techniques, computer systems, and intended applications. Fifty-three devices were reviewed that either assist with musculoskeletal disorders or suppress tremor. The general trends found in this review show a lack of requirements, device details, and standardization of reporting and evaluation. Two areas to accelerate the evolution of these devices were identified, including the standardization of research, clinical, and engineering details, and the promotion of multidisciplinary culture. Adoption of these devices into their intended application domains relies on the continued efforts of the community.

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“…The integration of new technologies in rehabilitation therapies led to the development of active and passive devices for upper limb rehabilitation. 7 Other wearable active orthosis systems and exoskeletons were designed to suppress upper-limb tremor while allowing natural forearm motion assistance. 8 Mechatronic wearable orthoses have at least one actuator, thus they are able to produce movement of the upper extremity.…”

Section: Introductionmentioning

confidence: 99%

Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

Dindorf¹,

Woś²

2019

Robotica

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SUMMARYThis study presents a new design of a wearable orthosis of elbow joint with a bimuscular pneumatic servo-drive (PSD) with control based on the recording of bioelectric signals (BESs). The authors analyzed the impact of the induced brain activity and the muscular tension within the head of the participant on the BESs that can be used to control the PSD of the elbow joint orthosis. To control the elbow joint orthosis, a distributed control system (DCS) was developed, which contains two control layers: a master layer connected to the device for recording the BES and a direct layer contained in a wireless manner with the controller of the PSD. A kinematic-dynamic model of the elbow joint orthosis, patterned after the biological model of human biceps–triceps, was used in the programming of the PSD controller. A biomimetic dynamic model of the pneumatic muscle actuator (PMA) was used, in which the contraction force results from the adopted exponential static model of the pneumatic muscle (PM). The use of direct visual feedback (DVF) makes it possible for the participant to focus on the movement of the orthosis taking into account the motoric functions of the elbow.

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Assistance of the elbow flexion motion on the active elbow orthosis using muscular stiffness force feedback

Cited by 14 publications

References 10 publications

A piezoresistive flexible sensor to detect soft actuator deformation

A piezoresistive flexible sensor to detect soft actuator deformation

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Using the Bioelectric Signals to Control of Wearable Orthosis of the Elbow Joint with Bi-Muscular Pneumatic Servo-Drive

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