FlexSEA-Execute: Advanced motion controller for wearable robotic applications

Duval, Jean-François; Herr, Hugh M.

doi:10.1109/biorob.2016.7523771

Cited by 8 publications

(1 citation statement)

References 20 publications

(34 reference statements)

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“…The control algorithms are implemented on a computer using ROS [16], the trajectory generation algorithm and the R* Computed Torque controller are written in Python. The computer is communicating over USB with Flexsea motor-drivers [17] that handle the low-level current loops. The trajectory is generated offline in advance and loaded in memory upon initialization.…”

Section: B Controller Implementationmentioning

confidence: 99%

Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators

Girard

Asada

2017

IEEE Robot. Autom. Lett.

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This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong; exploiting the natural load dynamics for moving at higher speeds (small reduction ratio), while also able to bear a large load through the attenuation of the load dynamics (large reduction ratio). A model-based control algorithm to automatically select the optimal gear-ratios that minimize the total actuator torques for an arbitrary dynamic state and expected uncertainty level is proposed. Also, a novel 3-DoF robot arm using custom actuators with two discrete gear-ratios is presented. The advantages of gearshifting dynamically are demonstrated through experiments and simulations. Results show that actively changing the gear-ratio using the proposed control algorithms can lead to an order-ofmagnitude reduction of necessary actuator torque and power, and also increase robustness to disturbances.

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Section: B Controller Implementationmentioning

confidence: 99%

Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators

Girard

Asada

2017

IEEE Robot. Autom. Lett.

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Design and clinical implementation of an open-source bionic leg

Azocar

Mooney²,

Duval³

et al. 2020

Nat Biomed Eng

146

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In individuals with lower-limb amputations, robotic prostheses can increase walking speed, and reduce energy use, the incidence of falls and the development of secondary complications. However, safe and reliable prosthetic-limb control strategies for robust ambulation in real-world settings remain out of reach, partly because control strategies have been tested with different robotic hardware in constrained laboratory settings. Here, we report the design and clinical implementation of an integrated robotic knee–ankle prosthesis that facilitates the real-world testing of its biomechanics and control strategies. The bionic leg is open source, it includes software for low-level control and for communication with control systems, and its hardware design is customizable, enabling reduction in its mass and cost, improvement in its ease of use and independent operation of the knee and ankle joints. We characterized the electromechanical and thermal performance of the bionic leg in benchtop testing, as well as its kinematics and kinetics in three individuals during walking on level ground, ramps and stairs. The open-source integrated-hardware solution and benchmark data that we provide should help with research and clinical testing of knee–ankle prostheses in real-world environments.

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FlexSEA: Flexible, Scalable Electronics Architecture for wearable robotic applications

Duval¹,

Herr²

2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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The work of this thesis aims to enable the fast prototyping of multi-axis wearable robotic systems by developing a new modular electronics system. The flexible, scalable electronics architecture (FlexSEA) developed for this thesis fills the void between embedded systems used in commercial devices and in research prototypes. This system provides the required hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to provide highperformance, real-time control of the actuators while keeping the high-level control development fast, safe and simple.The FlexSEA kits are composed of two custom circuit boards (advanced brushless motor driver and microcontroller board), one commercial embedded computer, a complete software stack and documentation. During its development it has been integrated into a powered prosthetic knee as well as an autonomous ankle exoskeleton. To assess the usability of the FlexSEA kit, a new user successfully used a kit to read sensors and control an output device in less than three hours. FlexSEA simplifies and accelerates wearable robotics prototyping.

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FlexSEA-Execute: Advanced motion controller for wearable robotic applications

Cited by 8 publications

References 20 publications

Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators

Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators

Design and clinical implementation of an open-source bionic leg

FlexSEA: Flexible, Scalable Electronics Architecture for wearable robotic applications

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