Singular Wire-Driven Series Elastic Actuation with Force Control for a Waist Assistive Exoskeleton, H-WEXv2

Hyun, Dong Jin; Lim, Hyunseop; Park, Sang‐In; Nam, Seungkyu

doi:10.1109/tmech.2020.2970448

Cited by 50 publications

(27 citation statements)

References 28 publications

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“…To solve this problem, researchers began to develop active lumbar exoskeletons. For example, H-WEX v1 [13], H-WEX v2 [14], lower back exoskeleton [15], MRLift [16], muscle suit [17], ATOUN MODEL Y [18], ROBO-MATE [19], and SIAT-WEXv1 [20]. H-WEXv1 uses only one actuator to assist the worker for lifting tasks.…”

Section: Introductionmentioning

confidence: 99%

SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Wang

et al. 2020

Complexity

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Lumbar Exoskeleton, as an important instance of wearable exoskeleton, has broad application prospects in logistics, construction, and other industries. Specifically, in the working scenarios that require long-term and repeated bending and rising movements, active lumbar exoskeleton (ALE) can provide effective protection and flexible assistance to wear’s waist muscles and bones, which will significantly reduce the risk of lumbar muscle strain. How to improve the human-machine coupling and enhance the assistance performance are the main challenges for ALE’s development. Based on the biomechanical analysis of the movement of lifting heavy objects from bottom up, this paper proposes a lightweight but powerful ALE, named as SIAT-WEXv2, which can output maximum assistive force of 28 N. Additionally, we use robust fuzzy adaptive algorithm to improve SIAT-WEXv2’s antidisturbance ability, so that it can provide continuous and supple assistance for wearer. Electromyography (EMG) signals of the lumbar erector spinae (LES) from ten subjects in two experimental cases (with or without SIAT-WEXv2) were collected to evaluate the effectiveness of our new ALE. The experimental results indicate that the reduction of iEMG signal at LES decreased monotonically from 60% ± 5.5% to 40.5% ± 6.5% as the weight of lifting load increased from 0 to 25 kg.

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Section: Introductionmentioning

confidence: 99%

SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Wang

et al. 2020

Complexity

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“…Using Bowden cable transmissions, often the motor and transmission are located to the wearer’s back (in particular for LLE) to improve the mass distribution. Very often Bowden cables are used in conjunction with SEAs [ 52 , 69 , 82 , 83 , 84 , 85 ], as the spring element is connected with the Bowden cable, obtaining the so-called serial elastic actuator Bowden cable drive. Agarwal et al, in 2017 in [ 49 ], presented a hand exoskeleton to move the thumb featured by a large range of motion (RoM), based on a series elastic actuation with Bowden cable, allowing for bidirectional torque control of each thumb joint individually.…”

Section: Analytical Reviewmentioning

confidence: 99%

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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“…However, they are still robot-like devices that interact with the wearers by embracing their anatomy [10] and rigidly connecting the articulations [11]. The most significant value of these devices lies in force application, either to mobilise and empower the wearer [12], [13]. The rigid structure of these robots supports the forces exerted to guide the user's limbs.…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

et al. 2020

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Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their users to assist or enhance muscle performance. Their lightweight design and lack of rigid parts allow assisting the user's natural motion without any constraints. They are thereby valuable in carrying out daily labour tasks and performing active stances of rehabilitation. Nonetheless, the usage of these devices in long-term applications demands anatomically adaptive designs and mechanisms to tackle textile artefacts and discrepancies in the human constitution. The soft exoskeleton described in this article is a textile-wearable design that assists shoulder and elbow flexion. The cable-driven actuation is embedded in a jacket by using several textiles and deformable parts. The inconveniences of using textile such as slipping, dampening, and pressure sores are tackled by combining textile layers with force-compliant sewing. The design also includes pieces for cable guidance, anchoring and support. These parts employ different tailoring methods so as to ease fabrication, wearing and cleaning. The motors and electronics, whose design is compatible with textiles too, are placed in a backpack. This configuration reduces forces from loads in motion and weight on the arm. Finally, the last part of the document discusses the preliminary results that have been obtained from four subjects who have worn the device.

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Singular Wire-Driven Series Elastic Actuation with Force Control for a Waist Assistive Exoskeleton, H-WEXv2

Cited by 50 publications

References 28 publications

SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Sensors and Actuation Technologies in Exoskeletons: A Review

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

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