Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Li, Xin; Liu, Jinkang; Li, Weihao; Huang, Yijing; Zhan, Gan

doi:10.1155/2022/5552166

Cited by 11 publications

(4 citation statements)

References 36 publications

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“…When the second premolars began to tip distally, the first molars received the distal force and moved distally as a result. However, as the force gradually attenuated due to friction [ 33 ], the magnitude of distal displacement of the first molars was less than that of the second premolars. Moreover, when the overtreatment in the disto-occlusal direction was added, a reciprocal force in the mesio-apical direction was also inevitably generated on teeth and transmitted to the aligner.…”

Section: Discussionmentioning

confidence: 99%

Effects of overtreatment with different attachment positions on maxillary anchorage enhancement with clear aligners: a finite element analysis study

Wang,

Huang,

Fan

et al. 2023

BMC Oral Health

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Background The effect of attachment positions on anchorage has not been fully explored. The aim of the present study is to analyze the effect of overtreatment with different anchorage positions on maxillary anchorage enhancement with clear aligners in extraction cases. Methods Models of the maxilla and maxillary dentition were constructed and imported into SOLIDWORKS software to create periodontal ligament (PDL), clear aligners, and attachments. Attachment positions on second premolars included: without attachment (WOA), buccal attachment (BA), and bucco-palatal attachment (BPA). Overtreatment degrees were divided into five groups (0°, 1°, 2°, 3°, 4°) and added on the second premolars. The calculation and analysis of the displacement trends and stress were performed using ANSYS software. Results Distal tipping and extrusion of the canines, and mesial tipping and intrusion of the posterior teeth occurred during retraction. A strong anchorage was achieved in cases of overtreatment of 2.8° with BA and 2.4° with BPA. Moreover, the BPA showed the best in achieving bodily control of the second premolars. When the overtreatment was performed, the canines and first molars also showed reduced tipping trends with second premolars attachments. And the stress on the PDL and the alveolar bone was significantly relieved and more evenly distributed in the BPA group. Conclusions Overtreatment is an effective means for anchorage enhancement. However, the biomechanical effect of overtreatment differs across attachment positions. The BPA design performs at its best for stronger overtreatment effects with fewer adverse effects.

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Section: Discussionmentioning

confidence: 99%

Effects of overtreatment with different attachment positions on maxillary anchorage enhancement with clear aligners: a finite element analysis study

Wang,

Huang,

Fan

et al. 2023

BMC Oral Health

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“…According to the Capstan formula [39][40][41], the efficiency of the Bowden cable transmission can be modeled as…”

Section: B Synergy Mechanismmentioning

confidence: 99%

Bioinspired Cable-Driven Actuation System for Wearable Robotic Devices: Design, Control, and Characterization

Xu,

Zhou,

Wang

et al. 2024

IEEE Trans. Robot.

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Wearable robotic devices interact with human by applying assistive force in parallel with muscle-tendon systems. Designing actuations in mimicking the natural activation patterns of human muscles is a promising way to optimize the performance of wearable robots. In this paper, we propose a bio-inspired cable-driven actuation system capable of providing anisometric contractions (including concentric and eccentric contraction) assistance or nearly acting as a transparent device in an efficient manner. A novel clutch-spring mechanism is employed to accomplish switches between assistive modes and the transparent mode. Corresponding control strategies coordinating with the mechanical design were presented and described in detail. Multiple evaluations were conducted on a test bench to characterize the system performance. The closed-loop bandwidth of the system running concentric assistance control was 18.2 Hz. The R-squared values of linear fitting under eccentric assistance control were above 0.99. The engagement time of the proposed clutch was about 90 ms. Applying the actuation to an ankle exoskeleton, multiple walking experiments with electromyography measurement were performed on five subjects to show its application potential in existing wearable robots. Experimental results revealed that the proposed design could reduce soleus muscle activity by 27.32% compared with normal walking. This study highlights the importance of functional bionic design in human-assistance-related devices and introduces a general actuation system that could be directly applied to existing cabledriven wearable robots.

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“…Nonlinearities due to Bowden cable friction cause higher tracking errors when the loading rate changes directions. phenomenon in Bowden cable transmissions [37] and can be compensated for with iterative learning control.…”

Section: Benchtop Experimentsmentioning

confidence: 99%

A Robotic Emulator for the Systematic Exploration of Transtibial Biarticular Prosthesis Designs

Anderson,

Gauthier,

Sunil Varre

et al. 2023

Preprint

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<p>Introduction: People with transtibial limb loss frequently experience suboptimal gait outcomes. This is partly attributable to the absence of the biarticular gastrocnemius muscle, which plays a unique role in walking. Although a recent surge of biarticular prostheses aims to restore gastrocnemius function, the broad design space and lack of consensus on optimal hardware and control strategies present scientific and engineering challenges. Methods: This study introduces a robotic biarticular prosthesis emulator, comprising a uniarticular ankle-foot prosthesis and knee flexion exoskeleton, each actuated by a custom off-board system. Benchtop experiments were conducted to characterize the emulator’s mechatronic performance. Walking experiments with one transtibial amputee demonstrated the system’s capability for providing knee and ankle assistance. Results: The -3 dB bandwidths for the knee exoskeleton’s torque and motor velocity controllers were measured at approximately 5 Hz and 100 Hz, respectively. A feedforward iterative learning controller reduced the root-mean-squared torque tracking error from 6.04 Nm to 0.99 Nm in hardware-in-the-loop experiments, an 84% improvement. User-preference-based tuning yielded a peak knee torque of approximately 20% of the estimated biological knee moment. Conclusions: This biarticular prosthesis emulator demonstrates significant potential as a versatile research platform that can offer valuable insights for the advancement of lower-limb assistive devices.</p>

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Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Cited by 11 publications

References 36 publications

Effects of overtreatment with different attachment positions on maxillary anchorage enhancement with clear aligners: a finite element analysis study

Effects of overtreatment with different attachment positions on maxillary anchorage enhancement with clear aligners: a finite element analysis study

Bioinspired Cable-Driven Actuation System for Wearable Robotic Devices: Design, Control, and Characterization

A Robotic Emulator for the Systematic Exploration of Transtibial Biarticular Prosthesis Designs

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