A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

G, Miguel A.; lvez-Zúñiga,; #, Alejandro Aceves-L; pez,

doi:10.1155/2016/5751391

Cited by 15 publications

(11 citation statements)

References 47 publications

(57 reference statements)

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“…Migration of the instantaneous center of rotation is connected to the fact that exoskeleton joints are frequently designed, by neglecting the small translations seen in its human counterpart [43] (see Fig. 2(a)).…”

Section: Misalignment Compensation Strategiesmentioning

confidence: 99%

“…As for simplicity, the kinematic redundancy groups receive a mildly negative score, because they require the addition of extra components, complicating the joint design [43]. Additionally, the placement of passive elements results in an increased difficulty of statistical determination of the robot [42].…”

Section: Misalignment Compensation Abilitymentioning

confidence: 99%

“…It is a common practice to simplify the human joints in exoskeleton design [42,43]. By only considering the dominant rotations [43], the human joints are commonly modeled as a set of 1DOF hinges [44,45].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

101

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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: Misalignment Compensation Strategiesmentioning

confidence: 99%

Section: Misalignment Compensation Abilitymentioning

confidence: 99%

See 1 more Smart Citation

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

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

101

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“…= 0.3344 0.4877 0.1778 0 0.3266 0.6531 (7) When convolving this shaper with the original input command consisting of a ramp input of 1.45 rad (solid black line in Fig. 4), the result is the shaped input command shown in Fig.…”

Section: A Zvd Shaper Parameter Estimationmentioning

confidence: 99%

User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm

Khodambashi

Weinberg

Singhose

et al. 2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on the application. In order to control the residual vibrations of SRLs, we have used an input-shaping method which is a computationally inexpensive approach. The effectiveness of this method in controlling the residual vibrations of a SRL has been proven using robustness analysis. User studies show that reducing the vibrations using input shaping directly increases the user satisfaction and comfort by at least 9%. It is also observed that 36% of the users preferred unshaped commands. We hypothesize that the shaped commands put a higher cognitive load on the user compared to unshaped commands. This shows that when dealing with human-robot interaction, user satisfaction becomes an equally important parameter as traditional performance criteria and should be taken into account while evaluating the success of any vibration-control method.

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“…Exoskeletons are usually divided in three classes depending on their aimed use: performance augmentation, rehabilitation, and assistance [ 1 , 2 ]. A shared design goal for most robotic lower limb exoskeletons is to reduce the metabolic cost of locomotion for the user [ 3 , 4 ].…”

Section: Introductionmentioning

confidence: 99%

Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation

Junius

Degelaen

Lefeber

et al. 2017

Applied Bionics and Biomechanics

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A shared design goal for most robotic lower limb exoskeletons is to reduce the metabolic cost of locomotion for the user. Despite this, only a limited amount of devices was able to actually reduce user metabolic consumption. Preservation of the natural motion kinematics was defined as an important requirement for a device to be metabolically beneficial. This requires the inclusion of all human degrees of freedom (DOF) in a design, as well as perfect alignment of the rotation axes. As perfect alignment is impossible, compensation for misalignment effects should be provided. A misalignment compensation mechanism for a 3-DOF system is presented in this paper. It is validated by the implementation in a bilateral hip exoskeleton, resulting in a compact and lightweight device that can be donned fast and autonomously, with a minimum of required adaptations. Extensive testing of the prototype has shown that hip range of motion of the user is maintained while wearing the device and this for all three hip DOFs. This allowed the users to maintain their natural motion patterns when they are walking with the novel hip exoskeleton.

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A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

Cited by 15 publications

References 47 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

User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm

Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation

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