Generating Electricity During Locomotion Modes Dominated by Negative Work via a Knee Energy-Harvesting Exoskeleton

Wang, Xinyu; Cao, Wujing; Yu, Hongliu; Zhang, Zhewen; Leng, Yuquan; Zhang, Mingming

doi:10.1109/tmech.2022.3157848

Cited by 24 publications

(15 citation statements)

References 34 publications

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“…In this case, the torque profile was proportional to the angular velocity of the joint. In addition, by selecting a load equal to the resistance of the generator, maximum power transfer was achieved [ 39 , 42 , 43 , 47 ]. In terms of harvesting power, this passive electrical load method may be sufficient; however, torque profile control is essential for a more advanced BRBEH.…”

Section: Analysis Of the Energy-harvesting Systemmentioning

confidence: 99%

“…To the best of our knowledge, previous BRBEHs were designed and tested based on level-ground walking. Experiments on sloped walking were conducted in only two studies [ 35 , 47 ], but the harvested power and COH were measured without biomechanical or systematic analysis. As the joint mechanics of sloped walking is different from those of normal walking, this analysis can provide design insights to broaden the applicability of BRBEHs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Biomechanical Regenerative Braking Energy Harvester: A Systematic Analysis

Yoon

Choi

2022

Int. J. of Precis. Eng. and Manuf.-Green Tech.

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Section: Analysis Of the Energy-harvesting Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Biomechanical Regenerative Braking Energy Harvester: A Systematic Analysis

Yoon

Choi

2022

Int. J. of Precis. Eng. and Manuf.-Green Tech.

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“…Cao et al promoted various kinds of soft exoskeletons for hip assistance, such as the rigid-soft structure combination [ 27 ], the proportional derivative iterative learning controller [ 28 ], and a novel hardware circuits design [ 29 ]; furthermore, the results of the net metabolic cost with three kinds of methods above presented a certain amount of decline. Wu et al [ 30 ] developed a knee energy harvesting exoskeleton that can generate electricity during level walking, downhill walking, and stair descent without sensors, which generate enough power while has little metabolic effect on the wearer. Meanwhile, different control strategies based on gait segmentation and driving elements were also studied, which allowed the exoskeleton to improve gait and posture during specific phases of the human walking cycle.…”

Section: Introductionmentioning

confidence: 99%

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

Liu

et al. 2022

Applied Bionics and Biomechanics

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The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton. In this paper, a flexible exoskeleton for assisting knee extension was proposed, which provided an on-body condition. Then, the friction force and its influencing factors between the wire rope and sheath of the Bowden cable from the motor to the anchor of knee have been analyzed. The segment models of force transmission with the concern of three kinds of friction modes were established, and the relationship between various lengths and bending angles of Bowden cable was fitted to the equations of curve. Furthermore, the association rule between the force transmission and the lengths of Bowden cable was obtained, based on which, the optimal force transmission efficiency was 78.68% when the length value of the Bowden cable was 475 mm. A flexible exoskeleton prototype was assembled; then, the experiments with force transmission and metabolic cost have been developed. The results showed that the force transmission efficiency had strong association with the lengths of Bowden cable, instead of the transmission velocities. Furthermore, this knee assistance exoskeleton reduced the net metabolic cost of the testees during walking. These experiments results corroborated the force transmission modeling and simulation of the Bowden cable on body we proposed in this paper.

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“…However, in active training, patients need to complete a specific movement of their own will without continuous assistance. Compared with passive training, active training is more likely to improve the active participation of patients, enhance the activity of the cerebral cortex motor center and recovery of nerve function and limb function, and improve self-care ability (Wu et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

Electromyogram-based motion compensation control for the upper limb rehabilitation robot in active training

Meng

Yue

et al. 2022

Mech. Sci.

Self Cite

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Abstract. Active participation in training is very important for improving the rehabilitation effect for patients with upper limb dysfunction. However, traditional upper limb rehabilitation robots cannot drive the patients' arms by following their varying motion intents during active training. This control strategy can weaken the patients' active participation. This paper proposes a novel center-driven upper limb rehabilitation robot and an electromyogram (EMG)-based motion compensation control method for the upper limb rehabilitation robot in active training in order to improve the patients' active participation. In addition, the trajectory planning equations for the proposed robot manipulator are analyzed and built in order to provide the reference trajectory in active training. In the end, two experiments are carried out to verify the proposed control method. The EMG compensation experiments show that the maximum error between the theoretical and experimental motor rotating speeds is no more than 1.3 %. The active training control experiment results show that the proposed robot can implement the reference trajectory in real time. The control method can implement the positive relationship between the rotating speed and the intensity of EMG emerging during upper limb training. It shows that the proposed rehabilitation robot can provide auxiliary force according to the patients' motion intents. The proposed rehabilitation robot can guide the patients in implementing the reference task in active training.

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Generating Electricity During Locomotion Modes Dominated by Negative Work via a Knee Energy-Harvesting Exoskeleton

Cited by 24 publications

References 34 publications

Biomechanical Regenerative Braking Energy Harvester: A Systematic Analysis

Biomechanical Regenerative Braking Energy Harvester: A Systematic Analysis

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

Electromyogram-based motion compensation control for the upper limb rehabilitation robot in active training

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