Controlling a Lower-Leg Exoskeleton Using Voltage and Current Variation Signals of a DC Motor Mounted at the Knee Joint

Al-Ayyad, Muhammad; Moh’d, Bashar Al-haj; Qasem, Nidal; Al-Takrori, Mohammad

doi:10.1007/s10916-019-1333-2

Cited by 4 publications

(2 citation statements)

References 16 publications

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“…There are also hybrid solutions in the literature [ 89 , 146 , 147 , 148 ] that use various types of sensors even under conditions of hydraulic actions [ 149 ], and sometimes authors speak explicitly about the sensor fusion approach [ 126 , 150 ]. An interesting solution, even if it presents a low level of accuracy and precision, consists of measuring the electricity absorbed by a motor of an exoskeleton in terms of the current and voltage [ 151 ] in order to know the mechanical power delivered by the motor in terms of the torque and speed due to the knowledge of the electromechanical characteristics of the motor itself.…”

Section: Analytical Reviewmentioning

confidence: 99%

“…Trunk A1. Electric Actuation A1.a DC [ 106 ]; [ 118 ]; [ 170 ]; [ 217 ]; [ 138 ]; [ 119 ]; [ 154 ]; [ 25 ]; [ 59 ]; [ 131 ]; [ 141 ]; [ 244 ]; [ 219 ]; [ 79 ]; [ 180 ]; [ 182 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 223 ]; [ 194 ]; [ 241 ]; [ 124 ]; [ 137 ]; [ 136 ]; [ 227 ]; [ 151 ]

; [ 240 ]

; [ 89 ]; [ 200 ]; [ 232 ]; [ 101 ]; [ 78 ]; [ 233 ]; [ 145 ]; [ 143 ]; [ …”

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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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