Differentially-Clutched Series Elastic Actuator for Robot-Aided Musculoskeletal Rehabilitation

DeBoon, Brayden; Nokleby, Scott B.; Delfa, Nicholas J. La; Rossa, Carlos

doi:10.1109/icra.2019.8793586

Cited by 19 publications

(6 citation statements)

References 28 publications

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“…Because the elastic element is used to provide a direct force estimate, the SEA is topologically more conducive to accurate force control than other conventional actuators. [ 138 ] Although it is counterintuitive for a haptic device to be added an elastic element, there are numerous benefits over rigidly coupled actuation such as improvements in shock tolerances, force control, stability, and efficiency. Additionally, they also allow for decoupled actuator inertia and decreased frictional effects, making them a good base for force feedback devices.…”

Section: Haptic Technologies For Advanced User Interfacesmentioning

confidence: 99%

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Nguyễn

Wong

Thai

et al. 2023

Advanced Sensor Research

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In recent years, advances in modern technology have altered the practice of surgery from open to minimally invasive surgery (MIS) aided by robots. Teleoperated surgical robotic systems (TSRSs) provide numerous significant benefits for MIS over traditional approaches, including improved safety, more efficient and precise surgery, better cosmesis, shorter recovery time, and reduced postoperative pain. Existing TSRSs' master consoles, with improvements in vision systems, designs, and control methods, have significantly enhanced human-robot interactions, resulting in safer and more accurate medical intervention operations. Despite advances, haptic technologies, including sensors, machine assistance, and intuitive devices for user interfaces, are still limited, resulting in less effective usage of TSRSs for surgical operations. This review presents a summary of the emerging TSRSs with a focus on their user interfaces. In addition, advanced sensing, haptic, smart garments, and medical image artificial intelligence (AI) assistance technologies are shown with their potential for use in master consoles of the TSRSs are shown. Finally, a discussion on the need for a smart human-robot interface for TSRSs is given.

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Section: Haptic Technologies For Advanced User Interfacesmentioning

confidence: 99%

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Nguyễn

Wong

Thai

et al. 2023

Advanced Sensor Research

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“…The linkage-driven exoskeletons include the series-elastic-actuation (SEA) (Deboon et al , 2019), pneumatic-artificial-muscles (PAM), quasi-direct-drive (Yu et al , 2020) and mechanism-based actuation techniques. SEAs operate on spring-type elastic elements that are used to store and release energy when required.…”

Section: Actuation In Exoskeletonsmentioning

confidence: 99%

A systematic review of technological advancements in signal sensing, actuation, control and training methods in robotic exoskeletons for rehabilitation

Mathew

Thomas

Navaneeth

et al. 2022

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Purpose The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research. Design/methodology/approach Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143. Findings Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially. Research limitations/implications Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the subject. Originality/value The paper describes the recent methods for signal sensing, actuation, control and rehabilitation training approaches used in developing exoskeletons. All these areas are key elements in an exoskeleton where the review papers are published very limitedly. Therefore, this paper will stand as a guide for the researchers working in this domain.

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“…In addition, using elastic components has many advantages, such as stable force control, buffering ability, low cost, and high reliability [4]. As a result, compliant actuators using elastic components have attracted increasing attentions, especially in robotics in unstructured environments, such as rehabilitation robots [5], prostheses [6], exoskeletons [7], and walking robots [8]. A representative compliant actuator is the series elastic actuator (SEA) [9], which typically uses a linear spring as the elastic component to achieve the required motion and stiffness characteristics.…”

Section: Introductionmentioning

confidence: 99%

Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator

Kang

et al. 2023

Robotica

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Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.

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Differentially-Clutched Series Elastic Actuator for Robot-Aided Musculoskeletal Rehabilitation

Cited by 19 publications

References 28 publications

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

A systematic review of technological advancements in signal sensing, actuation, control and training methods in robotic exoskeletons for rehabilitation

Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator

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