Development of a upper-limb exoskeleton robot for refractory construction

Yu, Ho; Choi, Il Seop; Han, Kyung-Lyong; Choi, Jae Yeon; Chung, Goobong; Suh, Jin-Ho

doi:10.1016/j.conengprac.2017.09.003

Cited by 36 publications

(17 citation statements)

References 2 publications

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“…This category of exoskeletons is designed to assist the user in motion amplification or augmentation, where it can be used to assist the users for motion amplification [7,[30][31][32][33][34][35][36][37]; helps to reduce the burden while working in a harsh industrial environment [38,39]; or supplements the physically weak individuals in their activities of daily living. So far, many new systems have been developed and tested during past few years.…”

Section: Exoskeletons For Motion Assistancementioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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Section: Exoskeletons For Motion Assistancementioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…It was also shown that the assistance was effectively reducing the physical strain on the participant (erector spinae, biceps, deltoid muscles). Even though the exoskeleton was attached to a support pole and not carried by the user, those results might be transferred to applications with a lowerbody exoskeleton or to a robot attached to a manipulator as in [35]. In addition, the questionnaire enabled to evaluate the perception of the participants.…”

Section: Discussionmentioning

confidence: 99%

Controlling an upper-limb exoskeleton by EMG signal while carrying unknown load

Treussart

Geffard

Vignais

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Implementing an intuitive control law for an upper-limb exoskeleton dedicated to force augmentation is a challenging issue in the field of human-robot collaboration. The aim of this study is to design an innovative approach to assist carrying an unknown load. The method is based on user's intentions estimated through a wireless EMG armband allowing movement direction and intensity estimation along 1 Degree of Freedom. This control law aimed to behave like a gravity compensation except that the mass of the load does not need to be known. The proposed approach was tested by 10 participants on a lifting task with a single Degree of Freedom upper-limb exoskeleton. Participants performed it in three different conditions : without assistance, with an exact gravity compensation and with the proposed method based on EMG armband (Myo Armband). The evaluation of the efficiency of the assistance was based on EMG signals captured on seven muscles (objective indicator) and a questionnaire (subjective indicator). Results showed a statically significant reduction of mean activity of the biceps, erector spinae and deltoid by 20% ± 14, 18% ± 12 and 25% ± 16 respectively while comparing the proposed method with no assistance. In addition, similar muscle activities were found both in the proposed method and the traditional gravity compensation. Subjective evaluation showed better precision, efficiency and responsiveness of the proposed method compared to the traditional one.

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“…Li et al [26] presented an active dualarm exoskeleton that can be adapted to various environments by adjusting the force and impedance adaptation, such as lifting loads or rehabilitation training. Yu et al [27] illustrated an upper-limb exoskeleton for refractory construction, which can be used to reduce the physical fatigue of operators resulting from long hours of working with heavy loads; however, this active exoskeleton has the deficiencies of a greater self-weight and unfitness for walking. Koopman et al [28] presented a light and convenient exoskeleton for lumbar protection in logistics work.…”

Section: Introductionmentioning

confidence: 99%

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

2021

Applied Bionics and Biomechanics

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Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

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Development of a upper-limb exoskeleton robot for refractory construction

Cited by 36 publications

References 2 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Controlling an upper-limb exoskeleton by EMG signal while carrying unknown load

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

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