Novel 6-Dof Wearable Exoskeleton Arm With Pneumatic Force-Feedback for Bilateral Teleoperation

Zhang, Jiafan; Fu, Hailun; Dong, Yi; Zhang, Yu; Yang, Canjun; Chen, Ying; Cad, Mold

doi:10.3901/cjme.2008.03.058

Cited by 15 publications

(4 citation statements)

References 21 publications

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“…It is also challenging to directly and effectively translate a human operator's command into robot actions after obtaining human motion data. There are three main methods for human arm motion mapping: end-to-end mapping [49], [50], joint-to-joint angle mapping [51], and functional pose mapping [52]- [55], which enable the operator to control the remote manipulator through the action of their own arm.…”

Section: A Perception Of Robots With Regard To Humansmentioning

confidence: 99%

A Review of Human–Machine Cooperation in the Robotics Domain

Yang

Zhu

Chen

2022

IEEE Trans. Human-Mach. Syst.

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Artificial intelligence (AI) technology has greatly expanded human capabilities through perception, understanding, action, and learning. The future of AI depends on cooperation between humans and AI. In addition to a fully automated or manually controlled machine, a machine can work in tandem with a human with different levels of assistance and automation. Machines and humans cooperate in different ways. Three strategies for cooperation are described in this article, as well as the nesting relationships among different control methods and cooperation strategies. Based on human thinking and behavior, a hierarchical human-machine cooperation (HMC) framework is improved and extended to design safe, efficient, and attractive systems. We review the common methods of perception, decision-making, and execution in the HMC framework. Future applications and trends of HMC are also discussed.

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Section: A Perception Of Robots With Regard To Humansmentioning

confidence: 99%

A Review of Human–Machine Cooperation in the Robotics Domain

Yang

Zhu

Chen

2022

IEEE Trans. Human-Mach. Syst.

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“…A humanlike musculoskeletal shoulder robot actuated by the pneumatic artificial muscles, assembled like natural human muscles, to replicate complex shoulder movements is developed by the researchers from Osaka University [76]. Some other robotic shoulder rehabilitation orthoses powered by pneumatic actuators are SRE (using PAM) [77], "Muscle Suit" (McKibben muscles) [78], ZJUESA [79], KIST (pneumatic and electric brake actuators) [80], 7-DOFs wearable robotic arm [81] and an exoskeleton for shoulder elevation [82].…”

Section: B Shoulder Orthoses Powered By Pneumatic Actuatorsmentioning

confidence: 99%

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

Niyetkaliyev

Hussain

Ghayesh

et al. 2017

IEEE Trans. Human-Mach. Syst.

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Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different types of actuation, degrees of freedom (DOFs), and control strategies have been utilized for the development of these shoulder rehabilitation orthoses. This paper presents a comprehensive review of these shoulder rehabilitation orthoses. Recent advancements in the mechanism design, their advantages and disadvantages, overview of hardware, actuation system, and power transmission are discussed in detail with the emphasis on the assisted DOFs for shoulder motion. A brief overview of control techniques and clinical studies conducted with the developed robotic shoulder orthoses is also presented. Finally, current challenges and directions of future development for robotic shoulder rehabilitation orthoses are provided at the end of this paper.

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“…Therefore, the exoskeleton can be roughly divided into three categories according to the use of power, which are passive exoskeleton, quasi-passive exoskeleton, and powered exoskeleton regarded as active equipment [4,5]. According to the human body parts supported by an exoskeleton, they can be divided into upper limb exoskeleton, lower limb exoskeleton (lees), whole-body exoskeleton, and specific jointsupporting exoskeleton [6][7][8][9][10][11][12][13]. These exoskeleton systems are divided into three categories according to their different applications and target users, which are gait rehabilitation, human movement, and human strength enhance [14].…”

Section: Introductionmentioning

confidence: 99%

A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement

Tang

Zhou

et al. 2022

Micromachines

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Human body enhancement is an interesting branch of robotics. It focuses on wearable robots in order to improve the performance of human body, reduce energy consumption and delay fatigue, as well as increase body speed. Robot-assisted equipment, such as wearable exoskeletons, are wearable robot systems that integrate human intelligence and robot power. After careful design and adaptation, the human body has energy-saving sports, but it is an arduous task for the exoskeleton to achieve considerable reduction in metabolic rate. Therefore, it is necessary to understand the biomechanics of human sports, the body, and its weaknesses. In this study, a lower limb exoskeleton was classified according to the power source, and the working principle, design idea, wearing mode, material and performance of different types of lower limb exoskeletons were compared and analyzed. The study shows that the unpowered exoskeleton robot has inherent advantages in endurance, mass, volume, and cost, which is a new development direction of robot exoskeletons. This paper not only summarizes the existing research but also points out its shortcomings through the comparative analysis of different lower limb wearable exoskeletons. Furthermore, improvement measures suitable for practical application have been provided.

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Novel 6-Dof Wearable Exoskeleton Arm With Pneumatic Force-Feedback for Bilateral Teleoperation

Cited by 15 publications

References 21 publications

A Review of Human–Machine Cooperation in the Robotics Domain

A Review of Human–Machine Cooperation in the Robotics Domain

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement

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