Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

Pan, Dalei; Gao, Feng; Miao, Yunjie; Cao, Rui

doi:10.1177/0954406214566036

Cited by 2 publications

(3 citation statements)

References 35 publications

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“…Wearing a lower extremity exoskeleton, the operator can carry heavy things with minimal effort for long distances and be more adaptable to a wide range of extreme terrains than wheeled robots (Pan et al, 2012;Tharakeshwar and Ghosal, 2013). Exoskeletons worn by operators can be used for two conceptually different applications (Pan et al, 2014: one is medical rehabilitation (Kawamoto and Sankai, 2005), and another is power amplification (Adam et al, 2006). The legged exoskeleton discussed in this article is developed for strength augmentation in healthy individuals, such as soldiers with heavy loads or rescue workers on rough terrains.…”

Section: Introductionmentioning

confidence: 98%

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

Pan

Gao

Miao

et al. 2015

Mechanics Based Design of Structures and Machines

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An excellent exoskeleton worn by the operator might be able to move with a high degree of accuracy and repeatability. Based on the previous kinematic accuracy reliability model, this article proposes two new definitions of the relative kinematic accuracy reliability to investigate the motion accuracy ability of a novel exoskeleton with series-parallel topology thoroughly. According to the new definitions, the calculating results show that x-, y-, and z-directions of the exoskeleton end-effector have different motion accuracy abilities, the motion accuracy ability of x is the best of all, and the motion accuracy ability of y is better than that of z. To study error sources, we illustrated the geometric tolerances and driving errors, which cause the uncertainties of the exoskeleton end-effector. The effects of geometric tolerances and driving errors on kinematic accuracy reliability and relative kinematic accuracy reliability, which are the sensitivity analyses, were numerically simulated and elucidated. The results reveal that the error sensitivity in the x-direction is the lowest and the error sensitivity in the y-direction is lower than that in the z-direction. Besides this, the effects of driving errors on the motion ability of all directions of the exoskeleton end-effector are larger than those of geometric tolerances. This approach for modeling and calculating kinematic accuracy reliability, relative kinematic accuracy reliability, and their sensitivity analysis provides a novel and unique reference standard for exoskeleton and other mechanism design.

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Section: Introductionmentioning

confidence: 98%

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

Pan

Gao

Miao

et al. 2015

Mechanics Based Design of Structures and Machines

Self Cite

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“…At present, with the energy storing systems to improve the reliability, hydraulic-pneumatic powered driving devices manufactured by Enerech, Flowserve, and Hiller are applied in almost all nuclear power plants in the world. 3,4 Electromechanical equipment usually have a lot of motion performance indexes 5 and complex influence parameters. 6,7 And due to the lack of efficient and feasible methods, it is not easy to evaluate or optimize motion performances.…”

Section: Introductionmentioning

confidence: 99%

“…Electromechanical equipment usually have a lot of motion performance indexes 5 and complex influence parameters. 6,7 And due to the lack of efficient and feasible methods, it is not easy to evaluate or optimize motion performances.…”

Section: Introductionmentioning

confidence: 99%

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

Pan

Gu²,

Guo³

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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The driving device of the main steam and feed water isolation valves is one of the most important electromechanical equipment in nuclear power plants, and its motion performances are related to the safety of nuclear power plants. This article proposes an optimization methodology to research the motion performances. In the methodology, inputs are the motion performance indexes and the major influencing parameters with no need for complex mathematical models of the electromechanical equipment; the co-simulation model or the prototype are adopted to illustrate the influence rules of major parameters on the motion performance indexes; objective functions for optimization, which combine motion performances with weight factors, can reveal the influence rule curves. Then based on the methodology, motion performances of the equipment are analyzed and the key indexes are selected. Besides, the maximum pressure of the driving device is chosen as the major parameter and a dimensionless objective function synthesizing the motion performance indexes is proposed. Finally, the influence rule curve where the dimensionless function varies with the maximum pressure is obtained by the co-simulation and the experimental study on the prototype verifies the results, which provides references for the further research and development in the engineering application. For other electromechanical equipment, the method is an efficient tool to design, verify, and optimize the performances.

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Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

Cited by 2 publications

References 35 publications

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

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