Mechanical design and preliminary tests of VS-AnkleExo

Kizilhan, Hasbi

doi:10.1007/s40430-018-1365-4

Cited by 14 publications

(12 citation statements)

References 33 publications

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“…Phase-based [10,[37][38][39][40][41]43,49, Impedance-based [74,75,102,136,[161][162][163][164][165]180] Metabolic-rate-based [70,96,132,181,182] Reflex-model-based [68,[183][184][185][186][187][188] Proportional-myoelectric-based [11,49,68,89,[189][190][191][192][193][194][195][196][197][198][199][200][201] Adaptive gain proportional-myoelectric-based [133][134][135][202]…”

Section: High-level Control Scheme Referencementioning

confidence: 99%

“…Not specified [136] GRF [49,89,[190][191][192][193][194][196][197][198][199][200]203] Surface EMG (960 Hz SX230, Biometrics, Newport, UK).…”

Section: Ground Reaction Forceunclassified

“…Brushed DC Motors Yes [234,235] No [67] Brushless DC Motors Yes [130] No [10,54,55,[59][60][61]136,152,153,188,207] Not Specified [236] Servo DC Motors No [137] Electric Motors (Type Not Specified) Yes [206] No [205] Dielectric Elastomer Polyimide Fibers Yes [94] PAEs are nonlinear systems highly subject to a variety of disturbances and uncertainties from the environment and the human user. The complex dynamics of the system and parameter perturbations make the control problem challenging in PAEs.…”

Section: Series Elasticmentioning

confidence: 99%

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Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

kian

Widanapathirana

Joseph

et al. 2022

Sensors

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Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance, rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their sensor systems. Human–machine interface sensors collect the biomechanical signals from the human user to inform the higher level of the control hierarchy about the user’s locomotion intention and requirement, whereas machine–machine interface sensors monitor the output of the actuation unit to ensure precise tracking of the high-level control commands via the low-level control scheme. The current article aims to provide a comprehensive review of how wearable sensor technology has contributed to the actuation and control of the PAEs developed over the past two decades. The control schemes and actuation principles employed in the reviewed PAEs, as well as their interaction with the integrated sensor systems, are investigated in this review. Further, the role of wearable sensors in overcoming the main challenges in developing fully autonomous portable PAEs is discussed. Finally, a brief discussion on how the recent technology advancements in wearable sensors, including environment—machine interface sensors, could promote the future generation of fully autonomous portable PAEs is provided.

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Section: High-level Control Scheme Referencementioning

confidence: 99%

“…Not specified [136] GRF [49,89,[190][191][192][193][194][196][197][198][199][200]203] Surface EMG (960 Hz SX230, Biometrics, Newport, UK).…”

Section: Ground Reaction Forceunclassified

Section: Series Elasticmentioning

confidence: 99%

See 1 more Smart Citation

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

kian

Widanapathirana

Joseph

et al. 2022

Sensors

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“…We previously presented a short conference paper [19] about preliminary design of BioComEx to get initial comments from the professions. Besides, the preliminary test of ankle design of BioComEx was presented previously in a journal paper [18] under the name of VS-AnkleExo. In this section, the kinematic design and power requirement analysis of all joints of BioComEx and complete mechanical design are reviewed shortly before experimental evaluation of the robot.…”

Section: Design Of Biocomexmentioning

confidence: 99%

“…This paper presents a novel biomimetic compliant lower limb exoskeleton robot (BioComEx) and its experimental evaluation. The performance of its ankle joint was investigated previously in [18]. In this study, the design and experimental evaluation of BioComEx was presented regarding all of its hip, knee, and ankle joints.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic compliant lower limb exoskeleton (BioComEx) and its experimental evaluation

Kizilhan

Kılıç

2019

J Braz. Soc. Mech. Sci. Eng.

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Exoskeleton robots are generally used for rehabilitation and load-carrying applications. Stable and flexible walking with minimal energy consumption of the human body is achieved by the compliant operation of the human joints. Essentially, the stiffness of the human ankle joint varies continuously, while the stiffness of the knee and hip joints remains nearly constant during loading phases of the walking cycles. With inspiration from the human leg biomechanics, a new biomimetic compliant lower limb exoskeleton robot (BioComEx) was constructed and its preliminary experimental tests were carried out in this paper. A variable stiffness actuator was developed for the ankle joint of BioComEx, and series elastic actuator designs were employed in the knee and hip joints of the robot. The joint actuators of BioComEx were designed longitudinally in order to be embedded inside of the thigh and shank leg segments for the compactness. Separate force sensors were employed in each segment of the robot for the modularity of the control strategies. Since the exoskeletons can be used for both load-carrying and rehabilitation, the developed robot was tested in both human-in-charge and robot-in-charge modes, respectively. The robot needs to mimic movement of healthy user joints in the human-in-charge mode and maximize the compliance between the user and robot; thus, the interaction forces should be reduced as possible. Hence, a modular closed-loop impedance control algorithm was developed for this mode. On the other hand, in the robot-in-charge mode, the robot joints need to track predefined gait references to make the patient walk. PID position control algorithm was chosen for preliminary test of the robot in this mode. Experimental results show that BioComEx is sufficiently satisfactory for walking applications of healthy and paralyzed users.

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Employing variable impedance (stiffness/damping) hybrid actuators on lower limb exoskeleton robots for stable and safe walking trajectory tracking

Kizilhan

Kılıç

2020

J Mech Sci Technol

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Mechanical design and preliminary tests of VS-AnkleExo

Cited by 14 publications

References 33 publications

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

Biomimetic compliant lower limb exoskeleton (BioComEx) and its experimental evaluation

Employing variable impedance (stiffness/damping) hybrid actuators on lower limb exoskeleton robots for stable and safe walking trajectory tracking

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