Controlling shoulder impedance in a rehabilitation arm exoskeleton

Carignan, Craig R.; Naylor, Mike; Roderick, Stephen

doi:10.1109/robot.2008.4543581

Cited by 41 publications

(13 citation statements)

References 7 publications

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“…As these studies may not relate directly to the development of active orthoses and exoskeletons, these sensors weren't gathered into the database. This information, represented as "Input Type" in Figure 1, was taken from each article, as different articles in the same project may refer to different sensor input hardware (Carignan et al, 2005;Carignan et al, 2008).…”

Section: Sensor Technologiesmentioning

confidence: 99%

A Technological and Statistical State-of-the-Art Study Regarding Active Motion-Oriented Assistive Devices

2012

Proceedings of the International Conference on Biomedical Electronics and Devices

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Active orthoses and powered exoskeletons, among other denominations, are devices made to attach to one or several human limbs in order to assist or replace its wearer's movement through means of electronicallycontrolled actuators and/or mechanical brakes. The technology developed for these devices can be used for rehabilitation, general strength enhancement for industrial or military purposes, among other situations. In order to create a comprehensive state-of-the-art work for this class of devices, several online scientific databases were used to gather articles related to this subject. Afterwards, a custom database was created to contain, organize and cross the information gathered from each relevant article. This work presents statistical results regarding the actuation technologies, the man-machine interface sensors and the corresponding interpretation algorithms. There is also a brief study about the localization of the scientific research, according to the targeted body part of the active device. The results show that the DC Motor is, by a wide margin, the most used actuator technology. This margin is reduced when wearable devices with weight constraints are developed. The electromyographic sensors are the most widely used sensors, but when these are grouped into physical variable classes, the force-related sensors show a higher number of occurrences. Regarding the processing algorithms required for the man-machine interface, it is often required to develop a custom algorithm for these devices.

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Section: Sensor Technologiesmentioning

confidence: 99%

A Technological and Statistical State-of-the-Art Study Regarding Active Motion-Oriented Assistive Devices

2012

Proceedings of the International Conference on Biomedical Electronics and Devices

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“…On the other side admittance-based design requires force sensing and can achieve higher stiffness values, but relies on the adopted control for canceling system dynamics and inertia. Exoskeleton with a single force/torque sensor localization, such as one torque sensor at the exoskeleton elbow joint and a sixaxis force/torque sensor at the exoskeleton handle [5] or shoulder [14], can accurately regulate interaction forces at the exoskeleton terminal link (i.e. the handle) only.…”

Section: Introductionmentioning

confidence: 99%

An interaction torque control improving human force estimation of the rehab-exos exoskeleton

Solazzi

Abbrescia

Vertechy

et al. 2014

2014 IEEE Haptics Symposium (HAPTICS)

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This paper describes the interaction torque control of the Rehab-Exos, an upper-limb robotic exoskeleton with direct torque joint sensors for interaction in Virtual Environments and rehabilitation. The control architecture consists in a centralized torque control and separated optimal torque observers for each joint of the exoskeleton. The optimal observer is a full-state Kalman filter providing the estimates of both internal and external torques acting on the joints and overcoming most of the issues due to the noise in the torque sensor signals. The centralized torque control is based on a full dynamics model of the exoskeleton, calculates the kinematics and dynamics of the system and estimates the feed-forward contribution for the compensation of dynamic loads measured by joint torque sensors. Experimental tests have been carried out to validate the desired torque tracking in haptic interaction tasks

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“…A wide variety of exoskeleton systems both for upper limbs (Bergamasco Frisoli et al 2007;Carignan et al 2008;Kiguchi et al 2006;Klein et al 2008;Mihelj et al 2007;Stienen et al 2007;Tsagarakis and Caldwell 2003;) and lower limbs (Banala et al 2007;Blaya and Herr 2004;Ferris et al 2007;Kawamoto et al 2003;Zoss et al 2005) with various human-machine interfaces have been developed (for review see Casolo et al 2008;Guizzo and Goldstein 2005;IJHR 2007;Pons 2007;Van der Loos and Reinkensmeyer 2008). The design of an exoskeleton as a wearable device should rely not only on anthropometric information of the human body (Department of Defense 1991; Department of Transportation 1975) but also on comprehensive information regarding human body kinematics and dynamics.…”

Section: Introductionmentioning

confidence: 99%

Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm

Perry

Powell

Rosén

2009

Applied Bionics and Biomechanics

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The integration of human and robot into a single system offers remarkable opportunities for a new generation of assistive technology. Despite the recent prominence of upper limb exoskeletons in assistive applications, the human arm kinematics and dynamics are usually described in single or multiple arm movements that are not associated with any concrete activity of daily living (ADL). Moreover, the design of an exoskeleton, which is physically linked to the human body, must have a workspace that matches as close as possible with the workspace of the human body, while at the same time avoid singular configurations of the exoskeleton within the human workspace. The aims of the research reported in this manuscript are (1) to study the kinematics and the dynamics of the human arm during daily activities in a free and unconstrained environment, (2) to study the manipulability (isotropy) of a 7-degree-of-freedom (DOF)-powered exoskeleton arm given the kinematics and the dynamics of the human arm in ADLs. Kinematic data of the upper limb were acquired with a motion capture system while performing 24 daily activities from six subjects. Utilising a 7-DOF model of the human arm, the equations of motion were used to calculate joint torques from measured kinematics. In addition, the exoskeleton isotropy was calculated and mapped with respect to the spacial distribution of the human arm configurations during the 24 daily activities. The results indicate that the kinematic joint distributions representing all 24 actions appear normally distributed except for elbow flexion-extension with the emergence of three modal centres. Velocity and acceleration components of joint torque distributions were normally distributed about 0 Nm, whereas gravitational component distributions varied with joint. Additionally, velocity effects were found to contribute only 1/100th of the total joint torque, whereas acceleration components contribute 1/10th of the total torque at the shoulder and elbow, and nearly half of the total torque at the wrist. These results suggest that the majority of human arm joint torques are devoted to supporting the human arm position in space while compensating gravitational loads whereas a minor portion of the joint torques is dedicated to arm motion itself. A unique axial orientation at the base of the exoskeleton allowed the singular configuration of the shoulder joint to be moved towards the boundary of the human arm workspace while supporting 95% of the arm's workspace. At the same time, this orientation allowed the best exoskeleton manipulability at the most commonly used human arm configuration during ADLs. One of the potential implications of these results might be the need to compensate gravitational load during robotic-assistive rehabilitation treatment. Moreover, results of a manipulability analysis of the exoskeleton system indicate that the singular configuration of the exoskeleton system may be moved out of the human arm physiological workspace while maximising the overlap between the human arm and the e...

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Controlling shoulder impedance in a rehabilitation arm exoskeleton

Cited by 41 publications

References 7 publications

A Technological and Statistical State-of-the-Art Study Regarding Active Motion-Oriented Assistive Devices

A Technological and Statistical State-of-the-Art Study Regarding Active Motion-Oriented Assistive Devices

An interaction torque control improving human force estimation of the rehab-exos exoskeleton

Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm

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