A Novel Wearable Upper-Limb Rehabilitation Assistance Exoskeleton System Driven by Fluidic Muscle Actuators

Chiou, Shean-Juinn; Chu, Hsien-Ru; Li, I-Hsum; Lee, Lian-Wang

doi:10.3390/electronics12010196

Cited by 6 publications

(4 citation statements)

References 42 publications

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Section: Am Of Pneumatic Actuatorsmentioning

confidence: 99%

“…Pneumatic actuators are inherently compliant and have the advantages of low mechanical complexity, weight, and cost for acquisition and maintenance [23,24]. Researchers have already demonstrated functional prototypes of pneumatic medical rehabilitation devices [23,24] as well as pneumatically actuated robots with articulated, i.e., human-like joints [25,26]. Independently of these publications, it has been demonstrated that AM can be used to produce functional prototypes of common pneumatic actuators, such as pneumatic cylinders [27,28] and rotary vane actuators (RVAs) [29].…”

Section: Am Of Pneumatic Actuatorsmentioning

confidence: 99%

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Design, Topology Optimization, and Additive Manufacturing of a Pneumatically Actuated Lightweight Robot

et al. 2023

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Soft robotics research has rapidly incorporated Additive Manufacturing (AM) into its standard prototyping repertoire. While numerous publications have highlighted the suitability of AM for producing soft pneumatic actuators, fluidic components, and lightweight structures, their integration into an industry-like robotic arm has not yet been shown. Against this background, a pneumatically actuated robot was developed that incorporates additively manufactured soft structures into rigid articulated hinges that generally allow for integration into today’s industrial production lines. The development of the robot, including pneumatic soft rotary bellows and rotary vane actuators (RVAs), is summarized, and its functionality is proven. It was found that using AM can increase the structural stiffness of robot links to a significant degree as manufacturing-related constraints in topology optimization are largely eliminated. Moreover, it was found that multi-material polyjet printing of soft rotary bellows actuators allows for highly integrated designs that provide low leakage and friction. However, these soft rotary actuators are still inferior in terms of endurance and performance if compared to AM replicas of RVAs. Our work narrows the gap between soft robotics research and today’s industrial applications, may realign research directions, and may provide impulses for the industry towards soft robotics and AM.

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Section: Am Of Pneumatic Actuatorsmentioning

confidence: 99%

Section: Am Of Pneumatic Actuatorsmentioning

confidence: 99%

Design, Topology Optimization, and Additive Manufacturing of a Pneumatically Actuated Lightweight Robot

et al. 2023

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“…During physical therapy with doctors, the physiotherapist controls the motion and regulates the interaction joint torque for safe movement with the patient's arms [11]. Similarly, when a robotic manipulator makes contact with the environment (e.g., human) as shown in Figure 1b, controlling both the interaction force/torque and its motion is needed because human-robot interactions can be hazardous if safety is not considered [12,13]. Generally, when a robot interacts with a stiff environment, impedance control is more stable than admittance control, while the reverse applies when the robot interacts with a soft or free-space environment.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

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“…IMU sensors were used to control the pressure for the pneumatic actuators. In 2022, Chiou developed a 4-DOF wearable upper limb rehabilitation assistance exoskeleton system (WURAES) that is suitable for assisting in the rehabilitation of patients with upper limb injuries [20]. a proxy-based output feedback sliding mode control (POFSC) was developed to provide appropriate rehabilitation assistance power for the upper limb exoskeleton and to maintain smooth and safe contact between the WURAES and the patient.…”

Section: Introductionmentioning

confidence: 99%

A Method for Precise Tracking Control of Pneumatic Artificial-Muscle-Driven Exoskeletal Robot

Ma,

Jia,

Xiao

et al. 2023

Applied Sciences

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Exoskeletal robots are of critical importance in the domain of mechanical boosting. The pneumatic artificial muscle (PAM) is commonly used as a flexible actuator in exoskeletal robots designed for upper limbs due to its high power-to-weight ratio, conformability, and safety. This study establishes a new model based on the existing model to improve its control precision by implementing elastic and frictional forces and empirical coefficients, battling against the time-variant hysteresis that PAM’s output force exhibits. In the meantime, a BP neural network is employed in reverse modeling, followed by the adoption of the least-square-based particle swarm optimization algorithm in order to determine the optimized parameter values. PAM provides the Upper Limb Exoskeletal Robot with appropriate auxiliary power, which can be adjusted to accommodate variations in posture change during the lifting process. PAM is also capable of handling variable loads based on the principle of torque balance, constructing a control system according to the inverse dynamics of exoskeletal robots accompanied by an inverse model of PAM’s output force, and finally, rendering tracking control of the elbow angle during the auxiliary process possible. Finally, the tracking error results are calculated and shown; the maximum angular error in the tracking process is 0.0175 rad, MAE value is 0.0038 rad, RMSE value is 0.0048 rad, and IEAT value is 4.6426 rad. This control method is able to improve the precision of tracking control of the elbow angle of the upper limb–exoskeleton coupled system during the process of lifting goods.

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A Novel Wearable Upper-Limb Rehabilitation Assistance Exoskeleton System Driven by Fluidic Muscle Actuators

Cited by 6 publications

References 42 publications

Design, Topology Optimization, and Additive Manufacturing of a Pneumatically Actuated Lightweight Robot

Design, Topology Optimization, and Additive Manufacturing of a Pneumatically Actuated Lightweight Robot

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

A Method for Precise Tracking Control of Pneumatic Artificial-Muscle-Driven Exoskeletal Robot

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