Torque control of a push-pull cable driven powered orthosis for the CORBYS platform

Rodriguez–Guerrero, Carlos; Grosu, Victor; Grosu, Svetlana; Leu, Adrian; Ristić-Durrant, Danijela; Vanderborght, Bram; Lefeber, Dirk

doi:10.1109/icorr.2015.7281170

Cited by 5 publications

(8 citation statements)

References 14 publications

(17 reference statements)

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“…Additionally, the process can be time-consuming: fitting times of 10-20 min are not out of the ordinary [75,76]. Some examples of exoskeletons in which this strategy is used are: the Lokomat [77,78], HAL [79,80], Ekso [81], ReWalk [82], CORBYS [83], and Indego [14]. All of these include hip and knee flexion/extension joints for both legs.…”

Section: Manual Alignmentmentioning

confidence: 99%

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

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The use of exoskeletons by the elderly, disabled people, heavy labor workers, and soldiers can have great social and economic benefit. However, limitations in usability are impeding the widespread adoption of exoskeletal devices. Kinematic compatibility, comfort, volume, mass, simplicity, expandability, and the ability to transmit forces, relative angles between the exoskeleton and the human, and the donning and doffing procedure need to be considered. Over the last decades, a large number of exoskeletons have been developed, to assert kinematic compatibility and compensate for misalignment. To such a degree, that it has become difficult to keep an overview of the different strategies. Therefore, this review article presents an extensive overview of different misalignment compensation strategies existing in the literature. Further, these strategies are organized in nine categories, evaluated and discussed around the exoskeleton's application domain and its specific requirements and needs.

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Section: Manual Alignmentmentioning

confidence: 99%

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

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“…This will conduct to a significant increase in total system mass and inertia. The solution suggested in several contributions (Morrell and Salisbury, 1998 ; Sugar, 2002 ; Zinn et al, 2004 ; Veneman, 2006 ; Slavnić et al, 2014 ; Guerrero et al, 2015 ) proposes relocating all actuators to the static base of the system and decoupling the dynamics of the actuator and the load, by using a compliant element, e.g., a spring, between both. This way, mass and inertia of the movable part can be significantly reduced, thus, allowing an ergonomic kinematic design.…”

Section: Introductionmentioning

confidence: 99%

“…Initially, open-ended cables were used in actuation of robotic devices, but they were limited to providing only tension force and no compression force, so that an extra device was needed to hold the cables in tension, complicating the design and the control of the transmission system. To overcome this problem, a new generation of cables was developed: endless tendon drives (Tsai, 1994 ), Bowden cables (Veneman et al, 2005 ; Sulzer et al, 2009 ), and push-pull cables (PPC) (Winter and Bouzit, 2007 ; Grosu et al, 2014 ; Slavnić et al, 2014 ; Xu et al, 2014 ; Guerrero et al, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

“…But, these hardware-based solutions can reduce the friction levels only to a certain degree. The other way to deal with cable-conduit nonlinear dynamics is to implement effective controllers (Agarwal et al, 2010 ; Vitiello et al, 2013 ; Slavnić et al, 2014 ; Guerrero et al, 2015 ) where the control parameters must be adjusted to the certain configuration of the cable (Panchaphongsaphak et al, 2006 ).…”

Section: Introductionmentioning

confidence: 99%

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Evaluation and Analysis of Push-Pull Cable Actuation System Used for Powered Orthoses

et al. 2018

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Cable-based actuation systems are preferred in rehabilitation robotics due to their adequate force transmission and the possibility of safely locating the motors away from the patient. In such applications, the cable dynamics represents the prescribing component for the system operating loads and control. A good understanding of the actuation, based on cable-conduit transmission, is therefore becoming mandatory. There are several types of cable-conduit configurations used for the actuation. Currently, there is lack of information in literature with regard to the push-pull cable type. Therefore, the main focus of this contribution is to evaluate push-pull cable-based actuation used within wearable robotic devices. This study includes working principle description of push-pull cable actuation with its characteristic advantages and drawbacks. The use of push-pull cables in bidirectional force transfer with remote actuation is investigated being integrated in a test-stand setup of a novel gait rehabilitation device. The experimental results and close analysis of the push-pull cable-based actuation system outline its performance, the overall dynamic behavior and the transmission efficiency of push-pull cables used for powered orthoses.

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“…AutoAmbulator (HealthSouth, Birmingham, Alabama) is using DC actuated DoFs at the hip and knee joints, while Lokomat [ 17 ], Lopes [ 18 ] and Alex [ 19 ] are adding to those a passive ankle to avoid foot drop, which can cause injuries while training over treadmill walking. For an appropriate gait, pattern reconstruction and more complex rehabilitation practice systems as ALTACRO [ 20 ], Lopes II [ 21 ], Alex III [ 22 ] and Corbys [ 23 ] are implementing active ankle DoF.…”

Section: Introductionmentioning

confidence: 99%

Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

Grosu

Vanderborght

et al. 2017

Sensors

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Human–robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

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Torque control of a push-pull cable driven powered orthosis for the CORBYS platform

Cited by 5 publications

References 14 publications

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Evaluation and Analysis of Push-Pull Cable Actuation System Used for Powered Orthoses

Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

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