A Model-Based Method for Minimizing Reflected Motor Inertia in Off-board Actuation Systems: Applications in Exoskeleton Design

Anderson, Anthony; Richburg, Chris A.; Czerniecki, Joseph; Aubin, Patrick M.

doi:10.1109/icorr.2019.8779452

Cited by 7 publications

(4 citation statements)

References 16 publications

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“…The torque and power output of the system are limited by the servomotor, which is rated for a continuous torque of 49.7 Nm, a peak torque of 143 Nm, and a continuous power output of 5.47 kW. The servomotor was selected using an optimization procedure and dynamical simulations of human walking with robotic assistance at the knee and ankle [31]. Our algorithm iterated over motors from the Kollmorgen catalog and varied mechanical design parameters while minimizing reflected inertia at the prosthesis.…”

Section: A Off-board Actuation and Control Hardwarementioning

confidence: 99%

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Anderson

Hudak

Muir

et al. 2023

IEEE Trans. Med. Robot. Bionics

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People with transtibial limb loss experience reduced mobility. Intelligent ankle-foot prostheses have the potential to improve quality of life in people with limb loss, but there are scientific, clinical, and commercial barriers that prevent widespread impact. Further research tools and experiments are needed to expand our understanding of how to design and control intelligent prosthetic limbs. We designed and built a robotic ankle-foot prosthesis with off-board actuation and control to serve as a platform for biomechanical lower limb loss research. Our prosthesis fits inside of a shoe during walking and attaches to standard clinical prosthesis componentry, including carbon fiber prosthetic footplates and pyramid adapters. Our novel mechanical architecture implements a custom torsion spring in parallel with the ankle joint to allow for dorsiflexion and plantarflexion torque control with a single off-board actuator. Benchtop tests show that our prosthesis has peak plantarflexion torques greater than 175 Nm and a torque control bandwidth of 6.1 Hz. Walking experiments with two participants with lower limb loss indicate that the prosthesis can achieve low torque tracking errors and push-off power greater than the biological ankle during walking. This device will enable future experiments on amputee gait biomechanics, human-robot interaction, and prosthesis control.

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Section: A Off-board Actuation and Control Hardwarementioning

confidence: 99%

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Anderson

Hudak

Muir

et al. 2023

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

show abstract

“…The torque and power output of the system are limited by the servomotor, which is rated for a continuous torque of 49.7 Nm, a peak torque of 143 Nm, and a continuous power output of 5.47 kW. The servomotor was selected using an optimization procedure and dynamical simulations of human walking with robotic assistance at the knee and ankle [36]. Our algorithm iterated over motors from the Kollmorgen catalog and varied mechanical design parameters while minimizing reflected inertia at the prosthesis.…”

Section: A Off-board Actuation and Control Hardwarementioning

confidence: 99%

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Anderson¹,

Hudak²,

Muir³

et al. 2023

Preprint

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<p>People with transtibial limb loss suffer from reduced mobility. Intelligent ankle-foot prostheses have the potential to improve quality of life in people with limb loss, but there are scientific, clinical, and commercial barriers that prevent widespread impact. Further research tools and experiments are needed to expand our understanding of how to design and control intelligent prosthetic limbs. We designed and built a robotic ankle-foot prosthesis with off-board actuation and control to serve as a platform for biomechanical lower limb loss research. Our prosthesis fits inside of a shoe during walking, and attaches to standard clinical prosthesis componentry, including carbon fiber prosthetic footplates and pyramid adapters. Our novel mechanical architecture implements a custom torsion spring in parallel with the ankle joint to allow for dorsiflexion and plantarflexion torque control with a single off-board actuator. Benchtop tests show that our prosthesis has peak plantarflexion torques greater than 175 Nm and a torque control bandwidth of 6.1 Hz. Walking experiments with two participants with lower limb loss indicate that the prosthesis can achieve low torque tracking errors and push-off power greater than the biological ankle during walking. This device will enable future experiments on amputee gait biomechanics, human-robot interaction, and prosthesis control.</p>

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“…• Secciani et al [87] retrieved the optimal geometrical parameters that allow the kinematics to minimize the error to the desired trajectories of their hand exoskeleton for assistive use; • Kulkarni et al [88] retrieved the optimal link lengths that minimize the difference between the workspace covered by the human and their wrist exoskeleton for assistive use over two joints (one joint is optimized, while the other joint is modeled as an inequality constraint); • Balser et al [90] retrieved the optimal parameters of the cable-driven actuator (i.e., radius, cable, and pulley) and link lengths that minimize the difference between the torques generated by the human and their shoulder exoskeleton for assistive use; • Vazzoler et al [91,92] retrieved the optimal joint spring parameters and positions that minimize the root mean square between joint torques of their leg exoskeleton for assistive use to distribute the weight effectively; • Anderson et al [93] retrieved the optimal "mechanical parameters" (The authors left the description of these mechanical parameters intentionally abstract, and they reported that "the system-specific mechanical design will determine which variables affect the model outputs") that minimize the reflected inertia of their leg exoskeleton for rehabilitation and assistive use; • Kim et al [96] retrieved the optimal position and pressure of pneumatic actuators that minimize the average energy consumption rate of the human joint while running using their leg exoskeleton for assistive use; • Xiao et al [95] retrieved the optimal link lengths and structural angle that minimize the torque exerted by their knee exoskeleton for assistive use; and • Bougrinat et al [97] retrieved the optimal link length and angles that maximize the artificial lever arm (i.e., the perpendicular distance between the joint and the line of action) of their ankle exoskeleton for assistive use.…”

Section: Designs With Other Optimization Techniques (Non-evolutionary)mentioning

confidence: 99%

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

Stroppa,

Soylemez,

Yuksel

et al. 2023

Robotics

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Exoskeleton devices are designed for applications such as rehabilitation, assistance, and haptics. Due to the nature of physical human–machine interaction, designing and operating these devices is quite challenging. Optimization methods lessen the severity of these challenges and help designers develop the device they need. In this paper, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of exoskeletons. We completed the search in the IEEE, ACM, and MDPI databases between 2017 and 2023 using the keywords “exoskeleton”, “design”, and “optimization”. We categorized our findings in terms of which limb (i.e., hand, wrist, arm, or leg) and application (assistive, rehabilitation, or haptic) the exoskeleton was designed for, the optimization metrics (force transmission, workspace, size, and adjustability/calibration), and the optimization method (categorized as evolutionary computation or non-evolutionary computation methods). We discuss our observations with respect to how the optimization methods have been implemented based on our findings. We conclude our paper with suggestions for future research.

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A Model-Based Method for Minimizing Reflected Motor Inertia in Off-board Actuation Systems: Applications in Exoskeleton Design

Cited by 7 publications

References 16 publications

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator

Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey

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