Design optimizer for planar soft-growing robot manipulators

Stroppa, Fabio

doi:10.1016/j.engappai.2023.107693

Cited by 3 publications

(1 citation statement)

References 59 publications

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“…By adjusting the timing and magnitude of the assistance force, the exoskeleton can match the gait characteristics of the wearer well, thereby improving adaptability and efficiency. However, the adjustment is usually based on experience, resulting in poor adaptability of the exoskeleton and poor auxiliary effects [ 16 , 17 , 18 ]. To solve this problem, human-in-the-loop (HIL) optimization [ 19 , 20 ], which is the method of optimizing control parameters for individualized assistance within soft exosuits, has attracted increasing attention.…”

Section: Introductionmentioning

confidence: 99%

Gait Recognition and Assistance Parameter Prediction Determination Based on Kinematic Information Measured by Inertial Measurement Units

Xiang,

Wang,

Liu

et al. 2024

Bioengineering

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The gait recognition of exoskeletons includes motion recognition and gait phase recognition under various road conditions. The recognition of gait phase is a prerequisite for predicting exoskeleton assistance time. The estimation of real-time assistance time is crucial for the safety and accurate control of lower-limb exoskeletons. To solve the problem of predicting exoskeleton assistance time, this paper proposes a gait recognition model based on inertial measurement units that combines the real-time motion state recognition of support vector machines and phase recognition of long short-term memory networks. A recognition validation experiment was conducted on 30 subjects to determine the reliability of the gait recognition model. The results showed that the accuracy of motion state and gait phase were 99.98% and 98.26%, respectively. Based on the proposed SVM-LSTM gait model, exoskeleton assistance time was predicted. A test was conducted on 10 subjects, and the results showed that using assistive therapy based on exercise status and gait stage can significantly improve gait movement and reduce metabolic costs by an average of more than 10%.

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Section: Introductionmentioning

confidence: 99%

Gait Recognition and Assistance Parameter Prediction Determination Based on Kinematic Information Measured by Inertial Measurement Units

Xiang,

Wang,

Liu

et al. 2024

Bioengineering

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Customizable 6 degrees of freedom grasping dataset and an interactive training method for graph convolutional network

Niu,

Zhu,

Wang

et al. 2024

Engineering Applications of Artificial Intelligence

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Soft Medical Robots and Probes: Concise Survey of Current Advances

Sayahkarajy,

Witte

2023

Design, Construction, Maintenance

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Soft robotics has emerged as a new branch of robotics gaining huge research interest in recent decades. Owning intrinsic advantages such as compliance and safety, soft robots are closely associated with the medical requirements of medical robots. This review is written to overview advances in the medical applications of soft robots, either for readers primarily familiar with traditional medical systems, or for researchers planning to develop soft robots for medical applications. Recent publications related to soft medical robots were reviewed to represent the state’, ’of’, ’the’, ’art advances in this field. The review tends to compress the scope to trunk’, ’shaped soft robots and appraise the status of soft robots and their distance from clinical use. Several papers related to the construction and capabilities of soft robots were referenced. Roughly 190 related articles published in the current period from 2018 to the publication date (representing almost 90% of the references to the theme totally identified) were reviewed. Structure of soft robots, advances in technology, and the aptitudes in medical applications were discussed. The trunk’, ’like soft robots conspicuously are proposed for applications including robot assisted surgery where a probe is inserted into the human body. Such robots are also present in other medical robots as actuators. The literature shows that different methods are used to fabricate soft robots and employ them in different robotics tasks including positioning, grasping, and force exertion. Noticeably, such studies were done in robotics laboratories, dealing with robotics engineering problems. This review suggests that the technology is actively developing, but further focus on specific medical applications is required to fill the gap between soft robotics and its clinical use.

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Design optimizer for planar soft-growing robot manipulators

Cited by 3 publications

References 59 publications

Gait Recognition and Assistance Parameter Prediction Determination Based on Kinematic Information Measured by Inertial Measurement Units

Gait Recognition and Assistance Parameter Prediction Determination Based on Kinematic Information Measured by Inertial Measurement Units

Customizable 6 degrees of freedom grasping dataset and an interactive training method for graph convolutional network

Soft Medical Robots and Probes: Concise Survey of Current Advances

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