On the stiffness analysis of a cable driven leg exoskeleton

Sanjeevi, N. S. S.; Vashista, Vineet

doi:10.1109/icorr.2017.8009290

Cited by 6 publications

(1 citation statement)

References 16 publications

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“…Due to the actuation redundancy, Equation (1) comes out to be underdetermined. Several analytic and numerical optimization methods have been proposed in the literature, and a quadratic programming problem can be utilized to solve for the cable tension values (Oh and Agrawal, 2005;Sanjeevi and Vashista, 2017). As shown in Figure 3, the tension planner provides the desired cable tension values based on the applied force intervention, i.e., desired wrench.…”

Section: Low Level Controlmentioning

confidence: 99%

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

2020

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Walking is one of the most relevant tasks that a person performs in their daily routine. Despite its mechanical complexities, any change in the external conditions that applies some external perturbation, or in the human musculoskeletal system that limits an individual's movement, entails a motor response that can either be compensatory or adaptive in nature. Incidentally, with aging or due to the occurrence of a neuro-musculoskeletal disorder, a combination of such changes including reduced sensory perception, muscle weakness, spasticity, etc. has been reported, and this can significantly degrade the human walking performance. Various studies in gait rehabilitation literature have identified a need for the development of better rehabilitation paradigms and have implied that an efficient human robot interaction is critical. Understanding how humans respond to a particular gait alteration can be beneficial in designing an effective rehabilitation paradigm. In this context, the current work investigates human locomotor adaptation to resistive alteration to the hip and ankle strategies of walking. A cable-driven robotic system, which does not add mobility constraints, was used to implement resistive force interventions within the hip and ankle joints separately through two experiments with eight healthy adult participants in each. In both cases, the intervention was applied during the push-off phase of walking, i.e., from pre-swing to terminal swing. The results showed that subjects in both groups adopted a compensatory response to the applied intervention and demonstrated intralimb and interlimb adaptation. Overall, the participants demonstrated a deviant gait implying lower limb musculoskeletal adjustments as if to compensate for a hip or ankle abnormality.

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Section: Low Level Controlmentioning

confidence: 99%

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

2020

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Effect of Passive Springs on Taskspace Stiffness of a Cable-Driven Serial Chain Manipulator

Sanjeevi¹,

Vashista²

2022

Lecture Notes in Mechanical Engineering

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Stiffness modulation of a cable-driven leg exoskeleton for effective human–robot interaction

Sanjeevi¹,

Vashista²

2021

Robotica

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With the widespread development of leg exoskeletons to provide external force-based repetitive training for gait rehabilitation, the prospect of undesired movement adaptation due to applied forces and imposed constraints require adequate investigation. A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human–robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human–CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human–CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.

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On the stiffness analysis of a cable driven leg exoskeleton

Cited by 6 publications

References 16 publications

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

Effect of Passive Springs on Taskspace Stiffness of a Cable-Driven Serial Chain Manipulator

Stiffness modulation of a cable-driven leg exoskeleton for effective human–robot interaction

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