Human-robot cooperative control system based on serial elastic actuator bowden cable drive in ExoArm 7-DOF upper extremity exoskeleton

Herbin, Paweł; Pajor, M.

doi:10.1016/j.mechmachtheory.2021.104372

Cited by 45 publications

(13 citation statements)

References 11 publications

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“…Using Bowden cable transmissions, often the motor and transmission are located to the wearer’s back (in particular for LLE) to improve the mass distribution. Very often Bowden cables are used in conjunction with SEAs [ 52 , 69 , 82 , 83 , 84 , 85 ], as the spring element is connected with the Bowden cable, obtaining the so-called serial elastic actuator Bowden cable drive. Agarwal et al, in 2017 in [ 49 ], presented a hand exoskeleton to move the thumb featured by a large range of motion (RoM), based on a series elastic actuation with Bowden cable, allowing for bidirectional torque control of each thumb joint individually.…”

Section: Analytical Reviewmentioning

confidence: 99%

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Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

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Section: Analytical Reviewmentioning

confidence: 99%

“…Forearm p1. Rehabilitation/Medical applications [ 81 ]

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Section: Figure A1mentioning

confidence: 99%

Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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“…The force on the flexion assist cable increases with increasing of the elbow flexion angle. When the elbow flexion angle reaches 90 • , the flexion cable force reaches the maximum, about 42 N. According to the physiological model of elbow joint and the method of redundant muscle force analysis, the extension muscle only provides resistance and plays a stabilizing role when the elbow moves [38]. The force arm of the extension assist cable is set to be a constant 0.040 m for specific person.…”

Section: Assist Torque Decompositionmentioning

confidence: 99%

Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism

Zhang

et al. 2021

Actuators

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Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, lower weight and cost, and have great application potential. Applying assist force according to the patient’s needs can give full play to the wearer’s remaining muscle strength, which is more conducive to muscle strength training and motor function recovery. In this paper, a design scheme of an elbow exoskeleton driven by flexible antagonistic cable actuators is proposed. The cable actuator is driven by a nonlinear series elastic mechanism, in which the elastic elements simulate the passive elastic properties of human skeletal muscle. Based on an improved elbow musculoskeletal model, the assist torque of exoskeleton is predicted. An assist-as-needed (AAN) control algorithm is proposed for the exoskeleton and experiments are carried out. The experimental results on the experimental platform show that the root mean square error between the predicted assist torque and the actual assist torque is 0.00226 Nm. The wearing experimental results also show that the AAN control method designed in this paper can reduce the activation of biceps brachii effectively when the exoskeleton assist level increases.

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“…Stroke patients can use exoskeletons for rehabilitation training to promote the rebuilt of connection between limbs and damaged central nervous [4,5]. During the later stage of rehabilitation training, patients have a certain initiative motion intention yet the muscle lacks strength [6,7]. Therefore, the exoskeleton is required to predict the motion trajectory of next cycle in real time according to current human motion state and provide assistance.…”

Section: Introductionmentioning

confidence: 99%

Research on control method of upper limb exoskeleton based on mixed perception model

et al. 2022

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As one of the research hotspots in the field of rehabilitation robotics, the upper limb exoskeleton robot has been widely used in the field of rehabilitation. However, the existing methods cannot comprehensively and accurately reflect the motion state of patients, which may lead to overtraining and secondary injury of patients in the process of rehabilitation training. In this paper, an upper limb exoskeleton control method based on mixed perception model of motion intention and intensity is proposed, which is based on the 6 degree-of-freedom upper limb rehabilitation exoskeleton in the laboratory. First, the kinematic information and heart rate information in the rehabilitation process of patients are collected, corresponding to patients’ motion intention and motion intensity, and fused to obtain the mixed perception vector. Second, the motion perception model based on long short-term memory neural network is established to realize the prediction of upper limb motion trajectory of patients and compared with back-propagation neural network to prove its effectiveness. Finally, the control system is built, and both offline and online test of the control method proposed are implemented. The experimental results show that the method can achieve comprehensive motion state perception of patients, realize real-time and accurate prediction trajectory according to human motion intention and intensity. The average prediction accuracy is 95.3%, and predicted joint angle error is less than 5 degrees. Therefore, the control method based on mixed perception model has good robustness and universality, which provides a new method for the active control of upper limb exoskeleton.

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Human-robot cooperative control system based on serial elastic actuator bowden cable drive in ExoArm 7-DOF upper extremity exoskeleton

Cited by 45 publications

References 11 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism

Research on control method of upper limb exoskeleton based on mixed perception model

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