Development of a method and instruments to assess the build quality and the technical condition of an electric gear actuator for an electromechanical orthosis of a lower limb exoskeleton

Abstract

This paper proposes a method and instruments for assessing the build quality and the technical condition of an electric gear actuator for an exoskeleton based on determining its starting torque as one of the main indicators of the level of degradation of its components. Existing methods are mainly based on identifying starting torque with the help of additional devices that require involvement of an operator in the measurement process, which increases its time and labor costs and makes it diffi cult to be automated. As opposed to the existing methods and instruments, the method and hardware-software complex developed in this study allow automating the measurement process, does not require expensive equipment, and has potential for conducting technical state control without dismounting an actuator from an exoskeleton. In the experimental part of this paper, the proposed method and tools were evaluated on the basis of electric actuators with reduction gears for an electromechanical orthosis of a lower limb exoskeleton. According to the experimental results, the discrepancy between the values of starting torque obtained separately by an existing method and by the proposed one is within 1.8%, which confi rms the effi cacy and applicability of the developed method for monitoring the technical condition of electric actuators for exoskeletons both at the stage of their production and during their operation.

Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities

“…Similarly, Barjuei et al in [ 26 ], proposed an approach for selecting a brushless BLDC motor and a gearbox transmission based on optimisation through an analytical human–robot dynamic interaction model and a mathematical relationship between the weight and technical characteristics of its components. Finally, Belogusev and Egorov in [ 27 ] proposed an automatic measurement procedure for determining the starting torque of an electric gear actuator for an exoskeleton. In this work, a methodology is proposed for selecting the appropriate motor during the design phase, hence, at a higher abstraction level, avoiding experimental tests of the exoskeleton.…”

Sensors and Actuation Technologies in Exoskeletons: A Review

“…Belogusev and Egorov, in [ 66 ], presented a quick and inexpensive method for determining the efficiency of a electric actuation system, which allows higher-precision measurements. The same authors in [ 67 ], proposed an automatic measurement process for determining the starting torque of an electric gear actuator for an exoskeleton. The method does not require expensive equipment and can be performed without dismounting the actuator from the exoskeleton.…”

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Mathematical modeling for a multiproduct manufacturing system featuring postponement, external suppliers, overtime, and scrap

“…The researchers further incorporated fuzzy constraints into their model and used numerical experiments with sensitivity analyses to demonstrate the model's performance. Recent works (Alves et al, 2019;Belogusev and Egorov, 2019;Pinto et al, 2020;Salehi Amiri et al, 2020;Sarkar and Chung, 2020) explored the influence of imperfect manufacturing processes on diverse fabrication planning, controlling, and management.…”