Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot for assisting human movement

Song, Zhibin; Tian, Chuanyin; Dai, Jian S.

doi:10.5194/ms-10-11-2019

Cited by 20 publications

(9 citation statements)

References 22 publications

(13 reference statements)

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“…the distributed stiffness and damping of human hands in the direction of the arms are kd and cd (refer to Fig. 6), the coupling force of the two systems can be expressed in (20):…”

Section: Vibration Model Of the Human-robot Coupled Systemmentioning

confidence: 99%

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Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Zhang

et al. 2021

IEEE Access

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The ever-increasing need for nursing care due to the aging population necessitates the need for safe and efficient elder-assistant robots that can reduce the care burden on the societies. However, most of the existing studies focus only on the robot-user sitting posture. In this paper, the vibration characteristics of the human-robot coupled system for the walking posture of the elderly-assistant robot is analyzed. The work is particularly important as it assesses the possible resonance, which if present, will adversely affect the comfort of the elderly. Initially, the dynamic model of the human-robot coupled system is derived. Then, the modal analysis of the robot is carried out to assess the possible resonance of the system during walking. Thirdly, MATLAB software is used for the vibration simulation analysis of the human-robot coupled model under different scenarios, namely, sudden impact and uneven road situations. Moreover, real-time experiments are conducted on the lab-scale robot to verify the effectiveness of the derived model under the same road conditions. Finally, the sensitivity analysis of the vibration responses to the damping ratio, mass ratios, and the natural frequencies is conducted to assess the effects of the parameters on the vibration responses. The simulation and the real-time analysis show that the model can be effectively used to assess the road-robot-human vibration transmissibility, particularly human hand comfort. Thus, the results demonstrate that the designed robot can be safely used by the elderly as it does not resonate during walking.

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“…the distributed stiffness and damping of human hands in the direction of the arms are kd and cd (refer to Fig. 6), the coupling force of the two systems can be expressed in (20):…”

Section: Vibration Model Of the Human-robot Coupled Systemmentioning

confidence: 99%

“…Furthermore, Song et al [20] introduced the design and analysis of a wheelchair-exoskeleton hybrid robot. With the three incorporated functions namely, wheelchair, support and exoskeleton configurations, the system provided motion assistant and rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Zhang

et al. 2021

IEEE Access

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“…This modal is ergonomically validated by quality function development. A prototype modal of a hybrid wheelchair with an exoskeleton is designed and analyzed by Song et al, (2019). This design may help the user to protect themselves from the pressure sours.…”

Section: Related Workmentioning

confidence: 99%

Design and Optimization of Direct Drive Motor Alloy Wheel for Manual Wheelchair

Avutu

Sauseng

2021

International Journal of System Dynamics Applications

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The wheelchair is the primary rehabilitation device used to enable the movement capability of disabled people. To provide an appropriate wheelchair, the doctor will suggest the necessary customization has to be made on the existing one. However, the customization of a manual wheelchair is easy and cost-effective compared with the powered wheelchair due to simple structure and spare parts availability in the market... Because of the above, a novel concept is proposed. The rear wheels of the manual wheelchair are replaced with a Direct drive motor alloy wheel. CATIA – V5 is utilized to design the proposed wheel and ANSYS software is used to check its performance at different load conditions. The stress-bearing capability of different materials for various Direct drive motor weights is observed through structural analysis. The natural mode frequencies are found using modal analysis and its nature of vibrations is verified. The harmonic response analysis is used to test the nature of deformation and stress concerning natural frequencies for the applied force.

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“…For example, rehabilitation training robots, boosting exoskeleton robots, and intelligent prosthetics [3][4][5]. But, the sEMG classification is very complex because of its nonlinearities and instability [6].…”

Section: Introductionmentioning

confidence: 99%

Feature Extraction and Classification of Lower Limb Motion Based on sEMG Signals

et al. 2020

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Surface electromyography (sEMG) signals can reflect the body motion information and are widely used in military, medical rehabilitation, industrial production. The lower limb motion classification mainly includes feature extraction and classification model establishment. Firstly, we proposed a feature extraction method based on the wavelet packet transform (WPT) and principal component analysis (PCA). We used the wavelet packet method to decompose the sEMG signals of three muscles in the lower limb and got the 24-dimensional eigenvector. To reduce the calculation and improve the speed of the classification model, we used the PCA method to reduce the dimension of the feature vector and got the 3-dimensional eigenvector. Then, we proposed a method based on the scale unscented Kalman filter (SUKF) and neural network (NN) for lower limb motion classification. Through the scale correction unscented transform (SCUT) could optimize the neural network weight and improve lower limb motion classification accuracy. Finally, the experimental results showed that the average accuracy was 93.7%. Compared with the backpropagation neural network (BPNN) and wavelet neural network (WNN), this method could improve the accuracy and reliability of the lower limb motion classification. INDEX TERMS sEMG signals, lower limb motion classification, feature extraction, wavelet packet transform, principal component analysis, unscented Kalman filter, neural networks.

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Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot for assisting human movement

Cited by 20 publications

References 22 publications

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Design and Optimization of Direct Drive Motor Alloy Wheel for Manual Wheelchair

Feature Extraction and Classification of Lower Limb Motion Based on sEMG Signals

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