Human-machine coupling control of exoskeleton intelligent load carry robot

Zhu, Jiasong; Wang, Yingze; Hong, Zhou

doi:10.1109/icma.2012.6282853

Cited by 8 publications

(8 citation statements)

References 3 publications

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“…Power assistive devices have been developed in recent years [1][2][3] for various purposes: in the welfare field for nursing [4,5], rehabilitation [6][7][8][9][10], and gait assistance [11][12][13][14][15][16][17][18][19]; in the industrial field for assembling and load-carrying [20][21][22][23][24]; and in the military field [25]. For example, Sankai [4] developed a robot suit HAL (Hybrid Assistive Limb) driven by electric motors, and it detects the walking intention by bioelectrical sensors attached to the users.…”

Section: Introductionmentioning

confidence: 99%

“…One of the technical challenges for realizing a practical assistive device is to synchronize the assistive force to the wearer's motion. To detect the wearer's intention of motion, most conventional devices require users to wear electric sensors, such as bioelectrical sensors [4,5], joint-angle sensors [10,14,20,22], inertial measurement unit (IMU) [11][12][13], force/torque sensors [6,15,17,22], and undersole pressure sensors [11][12][13]20,25]. The reliability of the intention detection can be increased by fusing multi-modal information from different type sensors.…”

Section: Introductionmentioning

confidence: 99%

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A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information

et al. 2019

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Power assistive devices have been developed in recent years. To detect the wearer’s motion, conventional devices require users to wear sensors. However, wearing many sensors increases the wearing time, and usability of the device will become worse. We developed a soft gait assistive suit actuated by pneumatic artificial rubber muscles (PARMs) and proposed its control method. The proposed suit is easy to wear because the attachment unit does not have any electrical sensors that need to be attached to the trainee’s body. A target application is forward walking exercise on a treadmill. The control unit detects the pre-swing phase in the gait cycle using the pressure information in the calf back PARMs. After the detection, the suit assists the trainee’s leg motion. The assist force is generated by the controlled PARM pressure, and the pressure input time is changed appropriately considering the gait cycle time. We conducted walking experiments; (1) verifies the proposed control method works correctly, and (2) verifies whether the gait assistive suit is effective for decreasing muscular activity. Finally, we confirmed that the accurate phase detection can be achieved by using the proposed control method, and the suit can reduce muscular activity of the trainee’s leg.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information

et al. 2019

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“…Considering the above demand, applying power-assistive devices would be effective in realizing load-adjustable gait training. Power-assistive devices have been developed in recent years [12]- [14] for diverse purposes: in the welfare field for nursing [15], [16], rehabilitation [17]- [21], gait assistance [22]- [30], in the industrial field for assembling and load-carrying [31]- [35], and in the military field [36]. One of the technical challenges for realizing a practical assistive device is synchronizing the assistive force to the wearer's motion.…”

Section: A Backgroundmentioning

confidence: 99%

Running Motion Assistance Using a Soft Gait-Assistive Suit and Its Experimental Validation

et al. 2021

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A gait training method that can adjust the target leg load is required to meet the varied demands of trainees. In this study, we propose a running training method using a soft gait-assistive suit-a power-assistive device that adds an external force to the leg of a trainee by actuating a pneumatic artificial muscle (PAM). Herein, the assisting force is applied to the leg of the trainee so that muscle activity is reduced throughout the gait cycle. We detected the terminal stance phase as an appropriate assist timing from the pressure information, and the detected timing was used for the PAM control. We conducted a verification experiment of the PAM pressure variation. In a running mode of 7.0 to 10.0 km/h, all data showed that the PAM at the calf front has better detectability than that at the calf back, which is used in conventional detection methods. The experimental results confirmed that the PAM for gait phase detection should be positioned at the calf front during running. The effectiveness of the proposed running training method was verified through experiments on four trainees using a treadmill. The leg electromyogram of the trainees was measured and changes observed. Accordingly, 14 out of 16 channels of the four trainees showed a significant difference, and the electromyograms decreased by the suit assistance in the range of -1.4 to -80.3 % maximum voluntary contraction. Thus, the experimental results quantitatively confirmed that the proposed running assistance method is effective in reducing muscular activity.INDEX TERMS gait phase detection, pneumatic artificial muscle, pressure-based control, running training, soft gait-assistive suit

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“…These trolleys are run by humans. However, the problem arises as these are hazardous tasks for humans, takes a lot of time to shift goods from one place to another and requires a lot of space [1]. Such existing system can be improved by the development of technology and use fully autamated sysytem in industries replacing additional unskilled workers.…”

Section: Motivationmentioning

confidence: 99%

An autonomous industrial robot for loading and unloading goods

Kadir

Chowdhury

Rashid

et al. 2015

2015 International Conference on Informatics, Electronics &Amp; Vision (ICIEV)

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AcknowledgementWe would like to take this opportunity to express our gratitude and appreciation to Dr. KhalilurRahman for his guidance, relentless help and instructions that he has provided us from the time we have started doing thesis under his supervision through the completion of our undergraduate program. The skills and ideas we have been able to learn from him during our Thesis work have benefited us immensely and will continue to do so throughout our future endeavors. | P a g e AbstractIn industries loading and unloading of heavy loads manually is one of the most imporant task which turns out to be quite difficult, time-consuming and risky for humans.In this modern era robots are being developed for various purposes to accomlish many tasks which seem to be too complex for humans. Benefits of using robots, for industrial purpose have been immense in terms of speed and efficiency of doing required tasks compare to that of humans. The paper illustrates the mechanical design of the industry based automated robot which include: Ackerman Steering Mechanism and Differential Mechanism.Ackerman Steering allows front two wheels to turn left and right in the track without going out of the track.Differential has been mounted with two back wheels and a DC motor has been used with its controller to start motion of the robot. This industrial robot has got three features and they are: Path-Tracking, Avoiding Collision, Loading and Unloading heavy industrial goods. The autonomous robot is designed to start its movement from a starting position where goods are loaded on it, then follow a path of white line drawn on black surface and unload goods by itself after reaching a destination place. Digital Line Following sensor has been mounted infront of the robot so thar the sensor can detect path by emitting and receiving signals alowing it to move in the pre-defined track having left and right turns while carrying goods from starting position to the destination. Arduino Uno has been used for programming and the required control circuit of the robot has been designed for controlling the robot's movement within the defined path. Relay Switches have been used to control the braking, and actuator movement during left and right movement of the industrial robot. The main aim is to load and unload heavy goods that has been achieved by two large linear actuators for producing required torque and force necessary to unload heavy loads (up to more than 150kg) sideways to the ground safely.Besides, the robot has been built up having the ability to avoid collision with any obstacles that come in its way. Ultrasonic sensor has been attached with the robot to send the signal and detect the presence of any obstacle that may appear in its path and stop momentarily for certain time until the obstacle move away. Building an industrial robot with moderate Speed, good Efficiency for loading and unloading purpose within a short time to ease human suffering has been the main focus of this paper. | P a g e

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Human-machine coupling control of exoskeleton intelligent load carry robot

Cited by 8 publications

References 3 publications

A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information

A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information

Running Motion Assistance Using a Soft Gait-Assistive Suit and Its Experimental Validation

An autonomous industrial robot for loading and unloading goods

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