AVSER &amp;#x2014; Active variable stiffness exoskeleton robot system: Design and application for safe active-passive elbow rehabilitation

Wang, Ren-Jeng; Huang, Han‐Pang

doi:10.1109/aim.2012.6266034

Cited by 14 publications

(21 citation statements)

References 25 publications

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“…Eleven systems use sEMG for control of the elbow joint. 11,20,[22][23][24]28,30,32,34,40 Nine of these systems were concerned only with the flexion-extension motion of the elbow and eight of these reported the muscles from which signals were obtained. In accordance with Figure 1.…”

Section: Electric Motormentioning

confidence: 99%

“…Among the devices reviewed, 13 mention some pre-processing details. 11,[22][23][24]28,32,34,40,49,53,57,58,65,70,71 Amplification noted in the reviewed studies was as follows: Tang et al used an unspecified preamplifier, 32 Stein et al applied a gain of 300, 11 Tong et al applied a gain of 800, 70 and Delph et al used two gain stages, a 10 times gain stage followed by a selectable gain stage. 53 The filters used ranged both in type and cutoff frequency, as described among 11 devices.…”

Section: Electric Motormentioning

confidence: 99%

“…23,24,28,32,40,57,58 The EMG sampling rate among the devices reviewed ranged from 250 Hz 57,58 to 8 kHz. 34 Furthermore, the sensor systems surrounding EMG data collection for wearable assistive devices varied greatly.…”

Section: Electric Motormentioning

confidence: 99%

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Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Desplenter

Zhou

Edmonds

et al. 2020

Journal of Rehabilitation and Assistive Technologies Engineerin

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Recently, there has been a trend toward assistive mechatronic devices that are wearable. These devices provide the ability to assist without tethering the user to a specific location. However, there are characteristics of these devices that are limiting their ability to perform motion tasks and the adoption rate of these devices into clinical settings. The objective of this research is to perform a review of the existing wearable assistive devices that are used to assist with musculoskeletal and neurological disorders affecting the upper limb. A review of the existing literature was conducted on devices that are wearable, assistive, and mechatronic, and that provide motion assistance to the upper limb. Five areas were examined, including sensors, actuators, control techniques, computer systems, and intended applications. Fifty-three devices were reviewed that either assist with musculoskeletal disorders or suppress tremor. The general trends found in this review show a lack of requirements, device details, and standardization of reporting and evaluation. Two areas to accelerate the evolution of these devices were identified, including the standardization of research, clinical, and engineering details, and the promotion of multidisciplinary culture. Adoption of these devices into their intended application domains relies on the continued efforts of the community.

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Section: Electric Motormentioning

confidence: 99%

Section: Electric Motormentioning

confidence: 99%

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Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Desplenter

Zhou

Edmonds

et al. 2020

Journal of Rehabilitation and Assistive Technologies Engineerin

View full text Add to dashboard Cite

show abstract

“…This section introduces the variable stiffness mechanism of a single PVSU. Variable stiffness mechanisms have been more and more widely utilized in vibration isolation devices [27], humanoid robots [28], and rehabilitation devices [29]. Most recent work of variable stiffness mechanisms rely on two techniques.…”

Section: Theoretical Analysis Of the Variable Stiffness Mechanismmentioning

confidence: 99%

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

Zang

Liu

et al. 2017

Applied Sciences

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Walking on rough terrains still remains a challenge that needs to be addressed for biped robots because the unevenness on the ground can easily disrupt the walking stability. This paper proposes a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground. The robotic foot is developed by attaching eight pneumatic variable stiffness units to the sole separately and symmetrically. Each variable stiffness unit mainly consists of a pneumatic bladder and a mechanical reversing valve. When walking on rough ground, the pneumatic bladders in contact with bumps are compressed, and the corresponding reversing valves are triggered to expel out the air, enabling the pneumatic bladders to adapt to the bumps with low stiffness; while the other pneumatic bladders remain rigid and maintain stable contact with the ground, providing support to the biped robot. The performances of the proposed foot system, including the variable stiffness mechanism, the adaptability on the bumps of different heights, and the application on a biped robot prototype are demonstrated by various experiments.

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“…In case of accidental collision between a human and a robot, a compliant actuator can reduce the risk of injuries, while the actuator can be made more rigid for precise tasks. Others applications have been developed such as mechanism preservation [11], energy saving [28], energy storing to release it at particular time [8], [12] or rehabilitation [14], [32].…”

Section: Introductionmentioning

confidence: 99%

A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices

2014

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Safe Physical Human Robot Interaction, conservation of energy and adaptability are just the main robotic applications that prompted the development of a number of Variable Stiffness Actuators (VSA). Implemented in a variety of ways, they use various technologies, and feature the most diverse mechanical solutions, all of which share a fundamentally unavoidable nonlinear behavior. The control schemes proposed for these actuators typically aim at independent control of the position of the link, and its stiffness. Although effective feedback control schemes using position and force sensors are commonplace in robotics, control of stiffness is at present completely open-loop: the stiffness is inferred from the mathematical model of the actuator. We consider here the problem of estimating the nonlinear stiffness of Variable Stiffness Actuator in Agonistic-Antagonistic configuration. We propose an algorithm based on modulating functions which allow to avoid the need of numerical derivative and for which the tunning is then very simple. An analysis of the error demonstrates the convergence. Simulations are provided and the algorithm is validated on experimental data.

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AVSER — Active variable stiffness exoskeleton robot system: Design and application for safe active-passive elbow rehabilitation

Cited by 14 publications

References 25 publications

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices

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