A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Chauhan, Raghuraj J.; Ben-Tzvi, Pinhas

doi:10.1115/dscc2019-8996

Cited by 4 publications

(1 citation statement)

References 20 publications

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“…It also allows for the assessment of changes in the patient's health and their functional capabilities, allowing modifications of the rehabilitation plan and the settings/construction of the exoskeleton. Thus, the need for cyclical visits to the clinic is reduced, and the importance of telerehabilitation is increasing (in study [78] with spinal muscular atrophy), reducing the burden on the health care system [78].…”

Section: Mechanical Design Aspectsmentioning

confidence: 99%

Personalization of the 3D-Printed Upper Limb Exoskeleton Design—Mechanical and IT Aspects

et al. 2023

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The human hand is the most precise and versatile tool that nature has given man, and any deficits in this area affect the functional capabilities and quality of human life. Scientists, engineers and clinicians are constantly looking for solutions in the field of diagnosis, treatment, rehabilitation and care of patients with hand function deficits. One such solution is a hand exoskeleton. In the process of designing and testing the hand exoskeleton, emphasis should be placed on the full usability and comfort of the system; hence, the issues of personalization, matching and testing are crucial for the development of the discussed group of solutions. The aim of this paper is to present the possibilities of personalizing 3D-printed medical devicesbased on our own experience in functional user assessment andthe material selection, design, optimization using artificial intelligence and production and testing of several generations of different upper limb exoskeletons, incorporatingthe considerations of the Medical Device Regulation (MDR), ISO 13485 and ISO 10993 standards.The novelty and possible contribution of the proposed approach consist of the possibilities and limitations of the personalization of the upper limb exoskeleton discussed in the article as well as the directions of further development of significant scientific, technical and clinical importance.

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Section: Mechanical Design Aspectsmentioning

confidence: 99%

Personalization of the 3D-Printed Upper Limb Exoskeleton Design—Mechanical and IT Aspects

et al. 2023

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Personalized voice activated grasping system for a robotic exoskeleton glove

Guo

Pradhan

et al. 2022

Mechatronics

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Controlling an exoskeleton glove with a highly efficient human-machine interface (HMI), while accurately applying force to each joint remains a hot topic. This paper proposes a fast, secure, accurate, and portable solution to control an exoskeleton glove. This state of the art solution includes both hardware and software components. The exoskeleton glove uses a modified serial elastic actuator (SEA) to achieve accurate force sensing. A portable electronic system is designed based on the SEA to allow force measurement, force application, slip detection, cloud computing, and a power supply to provide over 2 hours of continuous usage. A voice-control-based HMI referred to as the integrated trigger-word configurable voice activation and speaker verification system (CVASV), is integrated into a robotic exoskeleton glove to perform high-level control. The CVASV HMI is designed for embedded systems with limited computing power to perform voice-activation and voice-verification simultaneously. The system uses MobileNet as the feature extractor to reduce computational cost. The HMI is tuned to allow better performance in grasping daily objects. This study focuses on applying the CVASV HMI to the exoskeleton glove to perform a stable grasp with force-control and slip-detection using SEA based exoskeleton glove. This research found that using MobileNet as the speaker verification neural network can increase the speed of processing while maintaining similar verification accuracy. I would also like to gratefully acknowledge the support of NVIDIA Corporation with the donation of the Titan Xp GPU.

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Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance

Mucchiani

Liu

Sahin

et al. 2022

2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an effort to induce controlled motion at the user's limbs and be able to track different types of trajectories. This work develops a controller for soft pneumatic actuators aimed to power a pediatric soft wearable robotic device prototype for upper extremity motion assistance. The controller tracks desired trajectories for a system of soft pneumatic actuators supporting two-degree-of-freedom shoulder joint motion on an infant-sized engineered mannequin. The degrees of freedom assisted by the actuators are equivalent to shoulder motion (abduction/adduction and flexion/extension). Embedded inertial measurement unit sensors provide real-time joint feedback. Experimental data from performing reaching tasks using the engineered mannequin are obtained and compared against ground truth to evaluate the performance of the developed controller. Results reveal the proposed controller leads to accurate trajectory tracking performance across a variety of shoulder joint motions.

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A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Cited by 4 publications

References 20 publications

Personalization of the 3D-Printed Upper Limb Exoskeleton Design—Mechanical and IT Aspects

Personalization of the 3D-Printed Upper Limb Exoskeleton Design—Mechanical and IT Aspects

Personalized voice activated grasping system for a robotic exoskeleton glove

Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance

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