Kinematic accuracy reliability research of a novel exoskeleton with series-parallel topology

Pan, Dalei; Gao, Feng; Huang, Xun; Miao, Yunjie

doi:10.1177/0954406213511239

Cited by 10 publications

(6 citation statements)

References 30 publications

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“…These factors can be measured to demonstrate the good or poor performance of the mechanism [19]. The analysis of the kinematic accuracy reliability of the 3-PUU parallel robot manipulator is related to the mechanism kinematic reliability.…”

Section: Reliability Analysis Of Kinematic Accuracymentioning

confidence: 99%

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Cui

Zhang

et al. 2015

International Journal of Advanced Robotic Systems

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Kinematic accuracy reliability is an important performance index in the evaluation of mechanism quality. By using a 3-DOF 3-PUU parallel robot manipulator as the research object, the position and orientation error model was derived by mapping the relation between the input and output of the mechanism. Three error sensitivity indexes that evaluate the kinematic accuracy of the parallel robot manipulator were obtained by adapting the singular value decomposition of the error translation matrix. Considering the influence of controllable and uncontrollable factors on the kinematic accuracy, the mathematical model of reliability based on random probability was employed. The measurement and calculation method for the evaluation of the mechanism's kinematic reliability level was also provided. By analysing the mechanism's errors and reliability, the law of surface error sensitivity for the location and structure parameters was obtained. The kinematic reliability of the parallel robot manipulator was statistically computed on the basis of the Monte Carlo simulation method. The reliability analysis of kinematic accuracy provides a theoretical basis for design optimization and error compensation.

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Section: Reliability Analysis Of Kinematic Accuracymentioning

confidence: 99%

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Cui

Zhang

et al. 2015

International Journal of Advanced Robotic Systems

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“…Ideally, 20 at the most, the workspace of a legged exoskeleton should be less than the human’s maximum ranges of motion (shown in column 1 in Table 1); at the very least, the workspace of a legged exoskeleton should satisfy the human ranges of motion during level walking (shown in column 2 in Table 1 and as S 1 and S 2 in Figure 2). According to these two principles, the data in column 3 in Table 1, also shown as H 1 H 2 H 3 H 4 in Figure 2, are the human ranges of motion which was set for the novel exoskeleton.…”

Section: Model Descriptionmentioning

confidence: 99%

Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

Pan

Gao

Miao

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a switch-type and parameter self-tuning fuzzy-PID/PID controller for a novel lower extremity exoskeleton with a series-parallel mechanism according to the features of human level walking gait. The novel exoskeleton mechanism was described, the biological characteristics of human legs during the walking cycle were analyzed and a mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Then the schematic of the exoskeleton control strategy was discussed and illustrated. The co-simulation method of ADAMS and MATLAB/SIMULINK was adopted and the fuzzy-PID/PID controller was designed. A 1-DOF rotation control was simulated by both the fuzzy-PID/PID controller and a conventional PID controller for comparison. Finally, the exoskeleton level walking gait was co-simulated by using the bio-inspired control strategy. The results show that the controller can provide a fast, stable and precise control for the exoskeleton system.

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“…Pan et al 27 proposed a novel LLE model with a 6-DOF (four active DOFs and two passive DOFs) series-parallel mechanism. And the kinematic accuracy, reliability, 6 and dynamic characteristics 28,29 of this device are studied to explore and find out the characteristics of this novel LLE model.…”

Section: Introductionmentioning

confidence: 99%

On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement

Ren

Liu

Luo

et al. 2019

International Journal of Advanced Robotic Systems

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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series–parallel mechanism has a significant improvement in tracing the human positions at the hip joint.

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Kinematic accuracy reliability research of a novel exoskeleton with series-parallel topology

Cited by 10 publications

References 30 publications

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement

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