Hybrid position/force control of an upper-limb exoskeleton for assisted drilling

Hessinger, Markus; Pingsmann, Markus; Perry, Joel C.; Werthschützky, Roland; Kupnik, Mario

doi:10.1109/iros.2017.8205997

Cited by 13 publications

(7 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A wearable arm, also called an upper-limb exoskeleton, is used for measuring the movement of human upper limbs, 15 training upper-limb motion, 16 performing upper-limb rehabilitation, 17 or assisting in the completion of certain high-precision tasks. 18 The advantages of using wearable arms are that they can measure the movement of human upper limbs fast dan accurately, providing real-time corrective vibrotactile feedback, having high accuracy of trajectory tracking, while they also suffer from the problem of measurement drift, high cost, and they also need complex algorithms to realize the abovementioned functions. 15–18…”

Section: Wearable Designsmentioning

confidence: 99%

“…18 The advantages of using wearable arms are that they can measure the movement of human upper limbs fast dan accurately, providing real-time corrective vibrotactile feedback, having high accuracy of trajectory tracking, while they also suffer from the problem of measurement drift, high cost, and they also need complex algorithms to realize the abovementioned functions. 15–18…”

Section: Wearable Designsmentioning

confidence: 99%

“…However, there are much studies in this area, and we cannot cover everything. Therefore, we have only summarized the areas with relatively more research, especially for wearable applications, because wearable devices can do many things outside the reviewed range, such as assisting people during general activities in daily life 18 and providing support for industrial workers who perform repetitive tasks by hand. 114 In addition, we included published conference papers and abstracts as well as full peer-reviewed papers but did not include abstracts written in languages other than English or unpublished data.…”

Section: Limitations Of This Reviewmentioning

confidence: 99%

See 2 more Smart Citations

Wearable sensing devices for upper limbs: A systematic review

Dong

Fang

et al. 2020

Proc Inst Mech Eng H

View full text Add to dashboard Cite

Wearable sensing devices, which are smart electronic devices that can be worn on the body as implants or accessories, have attracted much research interest in recent years. They are rapidly advancing in terms of technology, functionality, size, and real-time applications along with the fast development of manufacturing technologies and sensor technologies. By covering some of the most important technologies and algorithms of wearable devices, this paper is intended to provide an overview of upper-limb wearable device research and to explore future research trends. The review of the state-of-the-art of upper-limb wearable technologies involving wearable design, sensor technologies, wearable computing algorithms and wearable applications is presented along with a summary of their advantages and disadvantages. Toward the end of this paper, we highlight areas of future research potential. It is our goal that this review will guide future researchers to develop better wearable sensing devices for upper limbs.

show abstract

Section: Wearable Designsmentioning

confidence: 99%

Section: Wearable Designsmentioning

confidence: 99%

Section: Limitations Of This Reviewmentioning

confidence: 99%

See 1 more Smart Citation

Wearable sensing devices for upper limbs: A systematic review

Dong

Fang

et al. 2020

Proc Inst Mech Eng H

View full text Add to dashboard Cite

show abstract

“…With the increasing applications of automation, various research activities have been carried out to design [11] and control [12] the drilling and milling robotic mechanism for aviation [13,14] and surgical applications [15,16]. Also, there were many previous works related to the modeling of machining tasks [17][18][19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

et al. 2022

View full text Add to dashboard Cite

Light machining tasks by robots are becoming an important issue to replace shortages of human resources. To improve the quality, safety and overall performance of manufacturing process, the modeling for estimation of forces and torques during the machining operations is on demand. In parallel, the digital model has also been developed which allow to detect the foul conditions, save energy & time and optimization of the real manufacturing process. Digital twins are one of them which use the offline and online data to simulate the physical manufacturing process. However, the empowerment of digital twins can be improved further by developing more accurate mathematical model which allow to simulate the physical machining process in real time. Accordingly, this paper presents a formulation for the mechanics of robotic light machining tasks to empower the digital twin. In this paper, a generalized impulse model is employed to analyze a light machining task that combines the linear and angular motions. For the implementation of an impulse model-based approach, the concept of both effective mass and effective inertia is newly introduced to reflect the dynamics of the environment, which depends on the hardness of the material and process parameters (feed rate and speed (rpm) etc.) of the machining task. Furthermore, optimal feed rates are calculated with consideration of effective mass/effective inertia and minimum task completion time. Moreover, simulations are carried out to choose the feasible direction of linear and angular velocities and optimal non-singular workspace for light machining tasks. Finally, the proposed methodology is validated through a quantitative comparison of simulation and experimental results by performing the drilling and milling tasks. A 6-DOF Universal robot (UR 5e) is used for simulations and experiments to corroborate the effectiveness of the proposed algorithms for light machining tasks. The developed methodology will certainly empower the digital twin for their physical analog during light machining operations.

show abstract

“…The application of the exoskeleton to the human body can be divided into three locations: (1) throughout the human body [6], (2) at the upper part of human body, such as the torso and arms [7], and (3) at the lower part of the human body, i.e., from the waist down [8]. Various parts of the human body simultaneously play certain functions in supporting movement during walking.…”

Section: Introductionmentioning

confidence: 99%

Overview: Types of Lower Limb Exoskeletons

et al. 2019

View full text Add to dashboard Cite

Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.

show abstract

Hybrid position/force control of an upper-limb exoskeleton for assisted drilling

Cited by 13 publications

References 14 publications

Wearable sensing devices for upper limbs: A systematic review

Wearable sensing devices for upper limbs: A systematic review

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

Overview: Types of Lower Limb Exoskeletons

Contact Info

Product

Resources

About