Actuation Selection for Assistive Exoskeletons: Matching Capabilities to Task Requirements

Calanca, Andrea; Toxiri, Stefano; Costanzi, Davide; Sartori, Enrico; Vicario, Rudy; Poliero, Tommaso; Natali, Christian Di; Caldwell, Darwin G.; Fiorini, Paolo

doi:10.1109/tnsre.2020.3010829

Cited by 13 publications

(6 citation statements)

References 19 publications

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“…Below, we mention methods of selecting electric actuators and calculating joint torques. Calanca et al in [ 25 ], presented a methodology based on a graphical tool that matches the actuator’s capabilities with the task’s requirements. The proposed approach obtains the operating torques and speeds through experimental tests.…”

Section: Discussionmentioning

confidence: 99%

Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities

et al. 2022

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Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for the rehabilitating of lower limb motor functions. Specifically, the implementation strategy of functional electrical stimulation walking aid combined with the design of the exoskeleton part is the main focus of our research team. This work copes with issues of the design process of a robotic exoskeleton. The importance of robotic exoskeletons for providing walking aid to people with mobility disorders or the elderly is discussed. Furthermore, the approaches to calculating the joint torques are investigated, and the mathematical models and parameters of interest are identified. This further includes the comparative data for servo motors: robotic exoskeleton characteristics and actuator analysis in the robotic exoskeleton. The aforementioned is used to propose a mathematical model based on previous models (Zatsiorsky BSP and Dempster BSP body segment parameters models, forward kinematics models), which was extended to include added adjustable parameters such as length, area, volume, mass, density, the centre of mass, human body characteristics, and considering both static and dynamic parameter extraction. Then, an analytic method is presented, exploiting the results from the mathematical model to select the appropriate motor for each joint of the lower extremities. The detailed description of the method is followed by examples, experimental measurements, and statistical analysis of qualitative and quantitative characteristics. The results showed deviations from typical calculation methods, offering a better understanding of the motor requirements for each joint of the exoskeleton and avoiding selections of marginal functionality features of the motors. In addition, researchers are offered a tool for replicating the results of this work, allowing them to configure the parameters associated with the servo motor features. The researcher can either use the embedded library developed for this work or enter new data into it, affecting the calculated torques of the model joints. The extracted results assist the researcher in choosing the appropriate motor among commercially available brushed and brushless motors based on the torques applied at each joint in robotic articulated systems.

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Section: Discussionmentioning

confidence: 99%

Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities

et al. 2022

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“…where F (θ, state) can be ( 21), (22) or (23) based on the state of the LFHSM. Finally, the θ can be obtained.…”

Section: B the Dzmp Torque Planning Strategymentioning

confidence: 99%

“…The net metabolic rate experiments were then employed to verify the effectiveness of the hip exoskeleton with the designed controller. Parameters of the exoskeleton were selected based on the method presented by Calanca et al [23], which is shown in Fig. 8.…”

Section: Experimental Verificationmentioning

confidence: 99%

Adaptive Switching Control Based on Dynamic Zero-Moment Point for Versatile Hip Exoskeleton Under Hybrid Locomotion

Miao

Wang

et al. 2023

IEEE Trans. Ind. Electron.

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An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work. The linear finite hysteretic state machine is designed to recognize hybrid motion phases. The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion. Experiments are carried out to verify the performance of the controller, confirming the stability and accuracy of the motion phase recognition, which also demonstrates excellent kinematic performance. The net metabolic rate can be reduced by 5.75% while wearing the versatile hip exoskeleton. Compared with existing research, the performance of the proposed controller has significant advantages. The proposed controller is capable of multiple types of locomotion including flat walking, stair climbing, and lifting heavy objects with low complexity and energy consumption.

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“…Calanca et al, in [ 64 ], presented a methodology based on a graphical tool that matches actuator capabilities to the task requirements, thus, showing how different design choices affect the actuator as a whole. In the proposed approach, task torques and velocities are acquired through experimental trials, repeated by different subjects; a motion capture system allows the acquiring of position and velocities, while joint torques are estimated via inverse dynamics on a multi-body human-exoskeleton model.…”

Section: Analytical Reviewmentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

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Actuation Selection for Assistive Exoskeletons: Matching Capabilities to Task Requirements

Cited by 13 publications

References 19 publications

Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities

Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities

Adaptive Switching Control Based on Dynamic Zero-Moment Point for Versatile Hip Exoskeleton Under Hybrid Locomotion

Sensors and Actuation Technologies in Exoskeletons: A Review

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