Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton With High Backdrivability and High Bandwidth

Yu, Shuangyue; Huang, Tzu-Hao; Yang, Xiaolong; Jiao, Chunhai; Yang, Jianfu; Chen, Yue; Yi, Jingang; Su, Hao

doi:10.1109/tmech.2020.2995134

Cited by 109 publications

(51 citation statements)

References 37 publications

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“…After improvements, the method could be implemented directly in the control of a KUKA LWR4+, or any other industrial robots, by re-tuning the MPC parameters, changing the values of the D-H parameters, and re-setting the initial configuration. In addition, the proposed method can be extended to investigate other research areas, such as mobile robots, soft robots [55,56], etc.…”

Section: Discussionmentioning

confidence: 99%

Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

Zhang

She

et al. 2021

Complex Intell. Syst.

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Remote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

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Section: Discussionmentioning

confidence: 99%

Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

Zhang

She

et al. 2021

Complex Intell. Syst.

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“…In some cases, the solution named Quasi-Direct Drive (QDD) actuation is particularly suitable [ 87 ]. QDD actuation (also known as proprioceptive actuation) is based on a high torque density motor coupled with a low gear ratio transmission and allows high bandwidth and high back-drivability for a wide variety of human activities.…”

Section: Analytical Reviewmentioning

confidence: 99%

“…Yu et al, in [ 87 ], presented a hip exoskeleton composed of a waist frame, two actuators, tow torque sensors and two thigh braces, based on a custom quasi-direct drive actuation (i.e., a high torque density motor with a low ratio gear). An unusual way to detect the torque resulting at the interface user-exoskeleton, and which is presented in various studies, is the use of a SEA actuator as a sensor.…”

Section: Analytical Reviewmentioning

confidence: 99%

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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“…Ideally, these gearboxes are single-stage (gear ratio below 10) since efficiency is mostly related to the number of stages. Following their success in legged robots (Seok et al, 2015;Ding and Park, 2017), quasi-direct drive actuators are currently being implemented in wearable robots (Wang et al, 2018;Elery et al, 2020;Yu et al, 2020;Zhu et al, 2021).…”

Section: Actuationmentioning

confidence: 99%

Challenges and solutions for application and wider adoption of wearable robots

et al. 2021

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The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for granted, especially since many recent attempts to bring them to real-life applications resulted in mixed outcomes. The aim of this article is to address the current challenges that are limiting the application and wider adoption of wearable robots that are typically worn over the human body. We categorized the challenges into mechanical layout, actuation, sensing, body interface, control, human–robot interfacing and coadaptation, and benchmarking. For each category, we discuss specific challenges and the rationale for why solving them is important, followed by an overview of relevant recent works. We conclude with an opinion that summarizes possible solutions that could contribute to the wider adoption of wearable robots.

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Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton With High Backdrivability and High Bandwidth

Cited by 109 publications

References 37 publications

Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

Sensors and Actuation Technologies in Exoskeletons: A Review

Challenges and solutions for application and wider adoption of wearable robots

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