Development of an Exoskeleton System for Elderly and Disabled People

Ivanova, Galina; Bulavintsev, Sergey; Ryu, Jee-Hwan; Poduraev, Jury

doi:10.1109/icisa.2011.5772334

Cited by 14 publications

(6 citation statements)

References 13 publications

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“…Most of the applied electrical motors are permanent magnet machines. From the permanent magnet motors, the brushed DC motors [27] and brushless DC motors [28,29] are the most popular.…”

Section: Electromagnetic Actuatorsmentioning

confidence: 99%

Overview of Actuated Arm Support Systems and Their Applications

et al. 2013

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Arm support systems provide support throughout daily tasks, training or in an industrial environment. During the last decades a large diversity of actuated arm support systems have been developed. To analyze the actuation principles in these systems, an overview of actuated arm support systems is provided. This overview visualizes the current trends on research and development of these support systems and distinguishes three categories. These categories depend mainly on the functional status of the user environment, which defines the specifications. Therefore, the actuated arm support systems are classified according to their user environment, namely: ambulatory, rehabilitation and industrial. Furthermore, three main actuation principles and three mechanical construction principles have been identified

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“…Most of the applied electrical motors are permanent magnet machines. From the permanent magnet motors, the brushed DC motors [27] and brushless DC motors [28,29] are the most popular.…”

Section: Electromagnetic Actuatorsmentioning

confidence: 99%

Overview of Actuated Arm Support Systems and Their Applications

et al. 2013

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“…[6][7][8][9] The direct force control based on pHRI identifies motion intention by measuring the force and torque between the human and the robot, in order to realize control of the exoskeleton. 2,[10][11][12][13] Because there are no constraints between the human arm and the exoskeleton arm, it is easy and fast to put on and take off the robot when the wearer operates the exoskeleton using the controller, and the wearer will not feel uncomfortable. The control signals are provided by the human-robot interaction sensor, so external noise has less influence on the system.…”

Section: Introductionmentioning

confidence: 99%

Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor

Wang

Song

Zhou

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a method of multi-connection load compensation and load information calculation for an upper-limb exoskeleton is proposed based on a six-axis force/torque sensor installed between the exoskeleton and the end effector. The proposed load compensation method uses a mounted sensor to measure the force and torque between the exoskeleton and load of different connections and adds a compensator to the controller to compensate the component caused by the load in the human-robot interaction force, so that the human-robot interaction force is only used to operate the exoskeleton. Therefore, the operator can manipulate the exoskeleton with the same interaction force to lift loads of different weights with a passive or fixed connection, and the human-robot interaction force is minimized. Moreover, the proposed load information calculation method can calculate the weight of the load and the position of its center of gravity relative to the exoskeleton and end effector accurately, which is necessary for acquiring the upper-limb exoskeleton center of gravity and stability control of whole-body exoskeleton. In order to verify the effectiveness of the proposed method, we performed load handling and operational stability experiments. The experimental results showed that the proposed method realized the expected function.

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“…Kiguchi et al [12] designed a 3-DOF upper limb exoskeleton to assist physically disabled, injured, and elderly people. Besides these studies, there are many other examples of assistant exoskeletons [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Design, Produce and Control of a 2-Dof Upper Limb Exoskeletal Robot

Akdoğan¹

2019

Journal of Thermal Engineering

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Exoskeletal robots are used as high-tech products in the military, health and industrial applications. The integration of robots and humans offers new opportunities for the creation of new assistive technologies that can be used in biomedical, industrial and military applications. This paper presents the mechanical design, modeling and simulation of 2 degrees of freedom (DOF) upper limb exoskeletal robot. The system can be used both for supporting load lifting and for rehabilitation of upper limbs. A load cell was used to measure the applied load. Encoders were used to measure the shoulder and elbow joint angles. An electromyograph was developed to measure muscular activation. In this study, simulation was conducted with the PID position control, however the system hardware is applicable for a force control architecture.

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Development of an Exoskeleton System for Elderly and Disabled People

Cited by 14 publications

References 13 publications

Overview of Actuated Arm Support Systems and Their Applications

Overview of Actuated Arm Support Systems and Their Applications

Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor

Design, Produce and Control of a 2-Dof Upper Limb Exoskeletal Robot

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