Development of Multi-axis Motor Control Systems for Lower Limb Robotic Exoskeleton

Pan, Cheng‐Tang; Chang, Chin‐Chen; Sun, Pei-Yuan; Lee, Cheng-Lung; Lin, Tzu‐Chieh; Yen, Chen‐Wen; Yang, Ya-Sung

doi:10.1007/s40846-018-0449-z

Cited by 10 publications

(9 citation statements)

References 11 publications

(23 reference statements)

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“…In the work of Pan et al [ 132 ], a six-camera infrared motion capture system was used to capture the motion of healthy and pathological subjects, which was used to realize command motion profile or to project the rehabilitation therapy. In the work by Jones et al [ 133 ], a two-camera setup employing high-resolution, monochrome CCD cameras was used to measure exoskeleton joint angles for comparison with encoder-measured angles.…”

Section: Analytical Reviewmentioning

confidence: 99%

“…EEG Sensors [ 131 ]

; [ 177 ]; [ 179 ]; [ 222 ]; [ 190 ]; [ 191 ]; [ 173 ]; [ 196 ]; [ 128 ]; [ 46 ]; [ 212 ]; S5. Cameras [ 103 ]; [ 40 ]; [ 174 ]; [ 134 ]; [ 132 ]

; [ 74 ]; [ 146 ]; [ 247 ]; [ 153 ]; [ 49 ]; [ 133 ]; S6. Encoders [ 115 ]; [ 119 ]; [ 140 ]; [ 218 ]; [ 73 ]; [ 40 ]; [ 174 ]; [ 131 ]; [ 141 ]

; [ …”

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Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

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Section: Analytical Reviewmentioning

confidence: 99%

“…EEG Sensors [ 131 ]

; [ 177 ]; [ 179 ]; [ 222 ]; [ 190 ]; [ 191 ]; [ 173 ]; [ 196 ]; [ 128 ]; [ 46 ]; [ 212 ]; S5. Cameras [ 103 ]; [ 40 ]; [ 174 ]; [ 134 ]; [ 132 ]

; [ 74 ]; [ 146 ]; [ 247 ]; [ 153 ]; [ 49 ]; [ 133 ]; S6. Encoders [ 115 ]; [ 119 ]; [ 140 ]; [ 218 ]; [ 73 ]; [ 40 ]; [ 174 ]; [ 131 ]; [ 141 ]

; [ …”

Section: Figure A1unclassified

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

View full text Add to dashboard Cite

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“…The torque required on each joint is determined using free-body diagrams of different joints. The work found in [ 4 ] proposed the lower limb robotic exoskeletons (LLRE) model. The free-body diagram of force on the knees and hips was constructed.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2022

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Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for the rehabilitating of lower limb motor functions. Specifically, the implementation strategy of functional electrical stimulation walking aid combined with the design of the exoskeleton part is the main focus of our research team. This work copes with issues of the design process of a robotic exoskeleton. The importance of robotic exoskeletons for providing walking aid to people with mobility disorders or the elderly is discussed. Furthermore, the approaches to calculating the joint torques are investigated, and the mathematical models and parameters of interest are identified. This further includes the comparative data for servo motors: robotic exoskeleton characteristics and actuator analysis in the robotic exoskeleton. The aforementioned is used to propose a mathematical model based on previous models (Zatsiorsky BSP and Dempster BSP body segment parameters models, forward kinematics models), which was extended to include added adjustable parameters such as length, area, volume, mass, density, the centre of mass, human body characteristics, and considering both static and dynamic parameter extraction. Then, an analytic method is presented, exploiting the results from the mathematical model to select the appropriate motor for each joint of the lower extremities. The detailed description of the method is followed by examples, experimental measurements, and statistical analysis of qualitative and quantitative characteristics. The results showed deviations from typical calculation methods, offering a better understanding of the motor requirements for each joint of the exoskeleton and avoiding selections of marginal functionality features of the motors. In addition, researchers are offered a tool for replicating the results of this work, allowing them to configure the parameters associated with the servo motor features. The researcher can either use the embedded library developed for this work or enter new data into it, affecting the calculated torques of the model joints. The extracted results assist the researcher in choosing the appropriate motor among commercially available brushed and brushless motors based on the torques applied at each joint in robotic articulated systems.

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“…The material used in the exoskeleton is different from that of common clothing. The outer layer of the exoskeleton can be made of ABS plastic, carbon fiber or alloy materials [ 38 , 39 , 40 ]. The inner side in contact with the human body uses memory foam, interlining, and mesh to prevent the high-strength surface material from harming the workers [ 41 ].…”

Section: Introductionmentioning

confidence: 99%

The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments

Liu

Lai

et al. 2021

IJERPH

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The exoskeleton as functional wearable equipment has been increasingly used in working environments. However, the effects of wearing an exoskeleton on human thermal responses are still unknown. In this study, 10 male package handlers were exposed to 10 °C (COLD) and 25 °C (TEMP) ambient temperatures while performing a 10 kg lifting task (LIFTING) and sedentary (REST) both with (EXO) and without the exoskeleton (WEXO). Thermal responses, including the metabolic rate and mean skin temperature (MST), were continuously measured. Thermal comfort, thermal sensation and sweat feeling were also recorded. For LIFTING, metabolic heat production is significant decrease with the exoskeleton support. The MST and thermal sensation significantly increase when wearing the exoskeleton, but thermal discomfort and sweating are only aggravated in TEMP. For REST, MST and thermal sensation are also increased by the exoskeleton, and there is no significant difference in the metabolic rate between EXO and WEXO. The thermal comfort is significantly improved by wearing the exoskeleton only in COLD. The results suggest that the passive exoskeleton increases the local clothing insulation, and the way of wearing reduces the “pumping effect”, which makes a difference in the thermal response between COLD and TEMP. Designers need to develop appropriate usage strategies according to the operative temperature.

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Development of Multi-axis Motor Control Systems for Lower Limb Robotic Exoskeleton

Cited by 10 publications

References 11 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

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

The Effects of a Passive Exoskeleton on Human Thermal Responses in Temperate and Cold Environments

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