A wire-driven leg rehabilitation system: development of a 4-DOF experimental system

Homma, Keiko; Fukuda, Osamu; Sugawara, Jun; Nagata, Yoshihiko; Usuba, Mariko

doi:10.1109/aim.2003.1225463

Cited by 68 publications

(42 citation statements)

References 3 publications

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“…Hence, significant research has been conducted in the area of assistive robotic systems such as wheelchair-mounted manipulators [1][2][3], desktop manipulators [4,5], powered prosthesis [6], powered upper/lower-limb orthosis [7][8][9][10][11], transfer aid systems [12], therapeutic robots [13,14], and monitoring or companion robots [15,16].…”

Section: Introductionmentioning

confidence: 99%

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Yang

Mustafa

Yeo

et al. 2010

Front. Mech. Eng. China

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In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of AE2.5mm.

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Section: Introductionmentioning

confidence: 99%

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Yang

Mustafa

Yeo

et al. 2010

Front. Mech. Eng. China

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“…By varying the length of light and flexible wires, a PWDM can control a target object [14]. The substantial weight saving readily guarantees safety and enables rapid and large motions.…”

Section: Classification Of Pwdms Based On Restrictionmentioning

confidence: 99%

“…4 (b) [8], [14]. Fewer actuators are needed than for the CR-PWDM for equal degrees of freedom (DOF).…”

Section: Classification Of Pwdms Based On Restrictionmentioning

confidence: 99%

Parallel Wire Driven System for Joint Torque Estimation of Human Leg in Passive Motion

Kino

Saisho²,

Miyazoe

et al. 2012

SICE Journal of Control, Measurement, and System Integration

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: This paper presents a leg torque estimation system for a passive motion that uses an incompletely restrained parallel wire driven mechanism. After comparing completely and incompletely restrained parallel wire driven systems, we organize the characteristics of both systems for human torque estimation. Defining the work spaces of four kinds for the incompletely restrained mechanism, we analyze the realization of passive tracking for a leg. Then we demonstrate that the walking motion can be achieved using low-power actuators. A case example of design is introduced to manufacture a prototype for the leg torque estimation. Finally, the result of the leg torque estimation is presented through experiments conducted using a prototype system.

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“…The impedance characterization of the human leg and biomechanical data can help us to select the right inertia and damping parameters M i , B i , and D i in equation (12). However, the impedance filter can cause user discomfort with small differences in exoskeleton position and the user's desired position because the impedance filter cannot guarantee zero contract force.…”

Section: Controller Design With the Hybrid Actuationmentioning

confidence: 99%

Design and control of hybrid actuation lower limb exoskeleton

Aguilar-Sierra

Salazar

et al. 2015

Advances in Mechanical Engineering

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In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

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A wire-driven leg rehabilitation system: development of a 4-DOF experimental system

Cited by 68 publications

References 3 publications

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Parallel Wire Driven System for Joint Torque Estimation of Human Leg in Passive Motion

Design and control of hybrid actuation lower limb exoskeleton

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