Development of the Cartesian arm exoskeleton system (CAES) using a 3-axis force/torque sensor

Choi, Dongil; Oh, Jun-Ho

doi:10.1007/s12555-012-0243-6

Cited by 15 publications

(9 citation statements)

References 10 publications

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“…The manipulator was controlled by the Cartesian computed torque control. The Cartesian computed torque method gains were determined experimentally to have under-damped characteristics for suspension-like motion 11,19,22 as follows: K p = 200, K v = 20 on the X axis; K p = 30, K v = 8 on the Y axis; and K p = 30, K v = 7 on the Z axis. The desired forward velocity was applied at 1 s as 3.6 m/s (about 13 km/hr) and the desired rotational velocity was fixed as zero.…”

Section: 1mentioning

confidence: 99%

“…Using the FT sensor developed in our previous research, 19 we measured the disturbance moments on the end-effector accounting the moment arm (0.21 m in KDMR-1) and those moments are converted to the disturbance forces, F x , F y . From this force information, we can evaluate the ZMP stability indirectly.…”

Section: 1mentioning

confidence: 99%

“…The mobile platform consists of two active rear wheels and two front caster wheels. A 3-axis force/torque (FT) sensor developed in the previous research 19 is mounted on the end-effector to measure the external disturbance forces. There is 6 kg of mass above the force-torque sensor.…”

Section: Appendixmentioning

confidence: 99%

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Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

Choi

2014

Robotica

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SUMMARYThis paper introduces a novel approach to motion planning for a rapid mobile manipulator using inverted pendulum models. Our aim was to realize an actual rapid mobile manipulator with high acceleration and speed performance for an object's delivery. In our research, we developed an actual rapid mobile manipulator called KDMR-1. We proposed simple motion planning methods using a single inverted pendulum model (SIPM) and a double inverted pendulum model (DIPM), which are easily adaptable to a real-time system with only a small computational burden. The SIPM was useful for basic movement but did not provide object carrying capability. For that, a DIPM was proposed. In both models, we designed linear quadratic optimal controllers to stabilize the Zero Moment Point (ZMP). Two kinds of ZMP stabilization strategies were proposed, fixed ZMP and relaxed ZMP. Using these strategies, we realized optimal ZMP stabilizations for a real-time rapid mobile manipulator. For decoupled forward and rotational linear DIPM, we designed a centrifugal acceleration compensation model in the manner of feedback linearization. The experimental results showed high acceleration and speed performances during rapid object delivery.

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Section: 1mentioning

confidence: 99%

Section: 1mentioning

confidence: 99%

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Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

Choi

2014

Robotica

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“…[5][6][7] Since then, the application of the HRI has been commonly discussed in the exoskeletons. 6,[8][9][10][11][12][13] Exoskeletons pertain to the cooperation robots designed to enhance human strength by the external framework and variously developed in the militaries, industries, and medical applications. 9,[11][12][13] For instance, the upper-limb exoskeleton is attaches to the human limb, as well as its behaviors usually mimic the human arm.…”

Section: Introductionmentioning

confidence: 99%

A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton

Zhao

Liu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator’s desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.

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“…An exosuit is driven by a motor and a Bowden cable that is fixed on the end of the motor, and force can be transferred to any limb joints by the Bowden cable [22]. From the perspective of control methods, electromyography (EMG) signals [23] or end force/torque detection [24] are usually regarded as the control input. Regarding exoskeleton evaluation, the subjective feeling of wearers and the results of an objective test have been illustrated to evaluate a passive exoskeleton [25].…”

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 the Cartesian arm exoskeleton system (CAES) using a 3-axis force/torque sensor

Cited by 15 publications

References 10 publications

Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton

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

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