Design of a five actuated DoF upper limb exoskeleton oriented to workplace help

Martinez, Felix; Retolaza, Iban; Pujana-Arrese, Aron; Cenitagoya, Ana Isabel Labra; Basurko, Jon; Landaluze, Joseba

doi:10.1109/biorob.2008.4762788

Cited by 40 publications

(28 citation statements)

References 6 publications

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“…1. All DC motors are placed on the backboard with an additional forces transmission system adapted from [3].…”

Section: Dof Selection and Denavit-hartenberg Parametersmentioning

confidence: 99%

“…Some basic activities of daily living (ADLs) are difficult for elderly people to complete independently due to declines in motor function. Researchers are developing wearable exoskeleton robots to help the aged and disabled with completing ADLs [2][3][4][5][6][7][8][9]. Ideally, wearable exoskeleton should be ergonomical, light-weight, highly reliable and accurate, very stiff, and inexpensive [2].…”

Section: Introductionmentioning

confidence: 99%

“…RUPERT is actuated by pneumatic muscles through a serial link mechanism. Martinez et al [3] designed a five degree of freedoms (DOF) upper limb exoskeleton S4 F. Xiao et al / Design of a wearable CABexo based on epicyclic gear trains structure actuated by DC motors and pneumatic muscles; its actuators were placed on an external base to decrease the mass and inertia of the exoskeleton by transmitting power via cables. Although the pneumatic muscle can provide flexible driving torques, these wearable exoskeleton systems actuated by pneumatic muscles with air cylinder may be difficult for patients to carry.…”

Section: Introductionmentioning

confidence: 99%

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Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure

Xiao

Gao

Wang

et al. 2017

THC

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Abstract. BACKGROUND: Many countries, including Japan, Italy, and China are experiencing demographic shifts as their populations age. Some basic activities of daily living (ADLs) are difficult for elderly people to complete independently due to declines in motor function. OBJECTIVE: In this paper, a 6-DOF wearable cable-driven upper limb exoskeleton (CABexo) based on epicyclic gear trains structure is proposed. METHODS: The main structure of the exoskeleton system is composed of three epicyclic gear train sections. This new exoskeleton has a parallel mechanical structure to the traditional serial structure, but is stiffer and has a stronger carrying capacity. The traditional gear transmission structure is replaced with a cable transmission system, which is quieter, and has higher accuracy and smoother transmission. RESULTS AND CONCLUSIONS: The static workspace of the exoskeleton is large enough to meet the demand of assisting aged and disabled individuals in completing most of their activities of daily living (ADLs).

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“…1. All DC motors are placed on the backboard with an additional forces transmission system adapted from [3].…”

Section: Dof Selection and Denavit-hartenberg Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure

Xiao

Gao

Wang

et al. 2017

THC

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“…Ikerlan-IK4 has developed a prototype of an active orthosis with five DoF for the arm [1] [2]. As it can be seen in Fig.…”

Section: A the Arm Orthosis Iko (Iker/an's Orthosis)mentioning

confidence: 99%

Analysis of Bowden cable Transmission performance for orthosis applications

Goiriena

Retolaza

Cenitagoya

et al. 2009

2009 IEEE International Conference on Mechatronics

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A Bowden cable performance analysis, based on a Design of Experiments (DoE) is presented for orthosis applications. The need for analysing these cables is based on the construction of IKO (IKerlan's Orthosis) with five actuated degrees of freedom (DoF) to help the human arm. The aim is for an individual to be capable of lifting weight without any great effort using this exoskeleton, which should be portable and readily dressed (and, therefore, lightweight). In order to transmit the power from the actuators to the joints, Bowden cables are used due to their flexibility and light weight. Transmission performance has been analysed in terms of load loss and cable deformation in order to estimate actuator requirements and positioning accuracy. A test bench has been built to measure the cable deformation and load loss occurring between the two ends of the cable in different situations. This has been applied to cables with two different diameters and at different loads. The variables for which the effect has been analysed are weight, the angle formed by the cable at the point where it leaves the sheath, the cable flexion angle, cable length, cable flexion curvature radius and cable type.

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“…the exoskeletons) enables robots to support and assist physical capabilities of the human in various situations. In particular, the advent of high degree of freedom assistive wearable robots [28,33,36] enabled more objective and comprehensive rehabilitation programs for people who suffer from a variety of neuromuscular diseases [20,33,36,44]. Healthy humans have flexible arm movement to manipulate objects and to avoid obstacles while robotic manipulators can augment power and reduce the fatigue due to heavy loads.…”

Section: Introductionmentioning

confidence: 99%

Predicting Redundancy of a 7 DOF Upper Limb Exoskeleton Toward Improved Transparency between Human and Robot

Kim

Rosén

2015

J Intell Robot Syst

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For a wearable robotic system which includes the same redundancy as the human arm, configuring the joint angles of the robotic arm in accordance with those of the operators arm is one of the crucial control mechanisms to minimize the energy exchange between human and robot. Thus it is important to understand the redundancy resolution mechanism of the human arm such that the inverse kinematics solution of these two coupled systems becomes identical. In this paper, the redundancy resolution of the human arm based on the wrist position and orientation is provided as a closed form solution for the practical robot control algorithm, which enables the robot to form the natural human arm configuration as the operator changes the position and orientation of the end effector. For this, the redundancy of the arm is expressed mathematically by defining the swivel angle. Then the swivel angle is expressed as a superposition of two components, which are reference swivel angle and the swivel angle offset, respectively. The reference swivel angle based on the wrist position is defined by the kinematic criterion that maximizes the manipulability along the vector connecting the wrist and the virtual target point on the head region as a cluster of important sensory organs. Then the wrist orientation change is mapped into a joint angle availablility function output and translated to the swivel angle offset with respect to the reference swivel angle. Based on the inverse kinematic formula the controller can transform the position and orientation of the endeffector into the joint torque which enables the robot to follow up the operator's current joint configuration. The estimation performance was evaluated by utilizing a motion capture system and the results show that there is a high correlation between the estimated and calculated swivel angles.

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Design of a five actuated DoF upper limb exoskeleton oriented to workplace help

Cited by 40 publications

References 6 publications

Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure

Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure

Analysis of Bowden cable Transmission performance for orthosis applications

Predicting Redundancy of a 7 DOF Upper Limb Exoskeleton Toward Improved Transparency between Human and Robot

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