EXOSTATION : Haptic exoskeleton based control station

Letier, Pierre; Motard, Elvina; Verschueren, Jean-Philippe

doi:10.1109/robot.2010.5509709

Cited by 8 publications

(7 citation statements)

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“…Figure 3 compares the actual velocity measured at the left knee of the biped robot concerning the estimated trajectories. The first velocity was produced by the robust differentiator described in (15), whereas the second was produced by the decentralized STA used as a RED 51,56 . The solid black line corresponds to the actual angular velocity of the biped robot knee.…”

Section: Numerical Resultsmentioning

confidence: 99%

“…14 The main feature of these mechanisms is the direct contact between the user and the exoskeleton, which transfers the mechanical power through physiological information signals (biofeedback). 15 In biomedical engineering, exoskeletons can help in the field of rehabilitation. 16 This solution is achieved by controlling the patient's movements through direct feedback between the mechatronic system (represented by the exoskeleton) and the patient.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive proportional derivative decentralized output based controller for a biped robotic device

Chairez

Alsmadi

Vera-Tizatl

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper describes the design and implementation of a novel adaptive control method to track a set of bioinspired reference trajectories. These references define anthropomorphic movements for an exoskeleton robot. The proposed controller implemented the adjustment laws for the variable gains of a state feedback (Proportional-Derivative type) structure. The method to adjust the adaptive gains was determined using a controlled Lyapunov function. The adaptation laws use velocity estimation based on a robust exact differentiator (RED) implemented as a variation of a distributed Super-Twisting algorithm. The adaptive gain controller was evaluated on a simulated exoskeleton structure. The set of simulations considered the presence of external disturbances and modeling uncertainties. The controller proved efficient in rejecting external perturbations/uncertainties affecting the exoskeleton. The proposed controller’s performance was superior to the one obtained if the standard fixed-gain proportional derivative controller was evaluated. As an additional benefit of the adaptive PD controller implementation, a controller power reduction of at least 14 [Formula: see text] concerning the non-adaptive version of the feedback controller was attained. An experimental evaluation of the proposed controller confirmed the benefits of the proposed controller with adaptive gains. The successful tracking of nine different biomechanically inspired reference trajectories justified the exoskeleton application, which could be used as a potential tool for rehabilitation purposes.

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Section: Numerical Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive proportional derivative decentralized output based controller for a biped robotic device

Chairez

Alsmadi

Vera-Tizatl

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…The onshore control center in Brussels consists of a monitoring and control room that features a double 7 DOF arm and 6 DOF hand force feedback exoskeleton. It is based in part on a design for the European Space Agency (ESA) [1] that was further improved in the EU-FP7 project ICARUS [2]. It is designed as a modular solution, allowing each arm and hand exoskeleton subsystem to be easily and conveniently connected and removed from the rest of the setup.…”

Section: E the Control Center And The Exoskeletonmentioning

confidence: 99%

Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Birk

Doernbach

Mueller

et al. 2018

IEEE Robot. Automat. Mag.

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“…Exoskeletons can be useful, especially when precise control of a specific manipulator is needed (Bergamasco et al, 1994;Koyama, Yamano, Takemura, & Maeno, 2002), and these exoskeletons can benefit from haptic and other forms of supported feedback (Letier, Motard, & Verschueren, 2010). Data gloves and tracking suits (Wousheng, Tianmiao, & Lei, 2003) can be thought of as types of exoskeletons in terms of the types of human inputs they afford, albeit ones that use different sensing technologies (Rani, Sarkar, Smith, & Adams, 2003).…”

Section: Body-sensing Technologiesmentioning

confidence: 99%

Teleoperation and Beyond for Assistive Humanoid Robots

Goodrich¹,

Crandall²,

Barakova³

2013

Reviews of Human Factors and Ergonomics

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In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clinical therapies. Since there are very few examples of the remote operation of a full humanoid, the review emphasizes technologies that are potentially relevant to teleoperation of humanoids. Teleoperation of humanoid robots faces many of the same practical challenges associated with (a) traditional teleoperation, including latency and telepresence, and (b) teleoperating manipulators and other robots with high degrees of freedom. Teleoperation systems for humanoid robots must also address unique challenges triggered by strong emotional and social responses to humanoids-responses of both the operator and any humans who may interact with the humanoid. These challenges trigger new opportunities for redefining teleoperation to include scripting, programming by demonstration, speech production, and Wizard of Oz interaction. The challenges also provide opportunities to specialize existing modes of interaction and unique opportunities to develop humanoid-specific forms of teleoperation, such as controlling humanoids via exoskeleton-based or inertial sensors. We include in this review a survey of enabling technologies, a taxonomy of practical uses, and a list of emerging themes and approaches to teleoperating humanoid robots.

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EXOSTATION : Haptic exoskeleton based control station

Cited by 8 publications

References 0 publications

Adaptive proportional derivative decentralized output based controller for a biped robotic device

Adaptive proportional derivative decentralized output based controller for a biped robotic device

Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Teleoperation and Beyond for Assistive Humanoid Robots

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