Robomorphism: A Nonanthropomorphic Wearable Robot

Accoto, Dino; Sergi, Fabrizio; Tagliamonte, Nevio Luigi; Carpino, Giorgio; Sudano, Angelo; Guglielmelli, Eugenio

doi:10.1109/mra.2014.2360276

Cited by 32 publications

(21 citation statements)

References 18 publications

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“…Its position is therefore variable with respect to the skeletal system due to deformations of the soft tissue [40]. Additionally, the braces of an exoskeleton are prone to slippage during operation [50,[71][72][73]. Offsets of as much as 10 cm between exoskeleton and users' axes of rotation have been recorded even with proper initial alignment [53].…”

Section: Manual Alignmentmentioning

confidence: 99%

“…The use of nonanthropomorphic exoskeletons or end-effector devices removes the burden of ensuring proper alignment, because their hinges do not directly correspond to the human DOFs. These devices only match the global behavior of the human limbs and, therefore, alignment is not an issue [42,50]. On the other hand, they are prone to other difficulties.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

101

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The use of exoskeletons by the elderly, disabled people, heavy labor workers, and soldiers can have great social and economic benefit. However, limitations in usability are impeding the widespread adoption of exoskeletal devices. Kinematic compatibility, comfort, volume, mass, simplicity, expandability, and the ability to transmit forces, relative angles between the exoskeleton and the human, and the donning and doffing procedure need to be considered. Over the last decades, a large number of exoskeletons have been developed, to assert kinematic compatibility and compensate for misalignment. To such a degree, that it has become difficult to keep an overview of the different strategies. Therefore, this review article presents an extensive overview of different misalignment compensation strategies existing in the literature. Further, these strategies are organized in nine categories, evaluated and discussed around the exoskeleton's application domain and its specific requirements and needs.

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Section: Manual Alignmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Näf

Junius

Rossini

et al. 2018

Applied Mechanics Reviews

101

View full text Add to dashboard Cite

show abstract

“…18 Parameters for their kinematic structure can be optimized to improve ergonomics, to reduce torque requirements, 19 or to increase backdrivability. 18 In case of anthropomorphic exoskeletons (AEs), they can deliver the same amount of assistive torque as the commanding torque to the user's joints through contact force transmission. For nonanthropomorphic exoskeletons (NAEs), however, assistive torque is not the same as the commanding torque but decided by the kinematic relationship between the two.…”

Section: Introductionmentioning

confidence: 99%

Control of a nonanthropomorphic exoskeleton for multi-joint assistance by contact force generation

Lee

Kim

Park

2018

International Journal of Advanced Robotic Systems

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In this article, a novel controller for a nonanthropomorphic exoskeleton robot was designed to reduce joint torque of its operator using the contact force between them. Since the joints of the nonanthropomorphic exoskeletons are not directly connected to those of the operator due to the difference between their kinematic structure, joint assistance is performed by transmitting the contact force on their coupling parts instead of transmitting the joint torque of the nonanthropomorphic exoskeleton directly into the human joint. Most of the previous studies have focused on reducing the measured contact force by moving the coupling parts or commanding the robot joint torque. On the contrary, the proposed method focuses on reducing the human joint torque, which is estimated by formulating inverse dynamics, by obtaining possible contact force solutions. The commanding torque of the nonanthropomorphic exoskeleton was calculated by inverse dynamics based on the model information. To verify the control performance of the proposed method, we have developed a simulation environment for a lower-limb nonanthropomorphic exoskeleton. When the coupling part was implemented to be rigid for an ideal case, the joint torque of the human model to perform the same motion was successfully reduced by the given torque reduction ratio. For a more realistic condition, a nonrigid coupling was also implemented as a virtual spring-damper system, and its effect on the control performance was demonstrated in the simulation.

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“…In the following, we will show that the ability to first identify the desired human motions and then mathematically describe them as physiological task, using higher order motion task specifications, makes it possible to create mechanical limbs with minimal number of actuators. Here, we would like to note that unlike other wearable device design techniques that use parallel mechanical linkages [22][23][24], we offer a novel alternative approach: a geometric design process to create wearable devices that incorporate anthropometric backbone chain and physiological task for performing contact task such as grasping. This includes all aspects of the geometric design process, from physiological task acquisition, anthropometric backbone chain specification with imprecision due to human skin tissue movement taken into account, dimensional synthesis, linkage topology, and linkage assessment.…”

Section: Introductionmentioning

confidence: 99%

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Tan

Robson

Soh

2017

Journal of Mechanisms and Robotics

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This paper describes a dimensional synthesis method used in the design of a passive finger exoskeleton that takes into account the user limb anthropometric dimensions and contact requirements for grasping objects. The paper is the first step in our current efforts on the design of wearable devices that use a common slider at the hand to passively drive each exofinger. The finger exoskeleton is comprised of a 3R serial limb and is constrained to multiloop eight-bar slider mechanism using two RR constraints. To design the exolimb, the pose of the limb was captured using an optical motion capture and its dimensions were determined using a constrained least square optimization, which takes into account human skin movement. To illustrate the generality of our approach, an example of the design of an index and middle finger exolimb is described.

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Robomorphism: A Nonanthropomorphic Wearable Robot

Cited by 32 publications

References 18 publications

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Misalignment Compensation for Full Human-Exoskeleton Kinematic Compatibility: State of the Art and Evaluation

Control of a nonanthropomorphic exoskeleton for multi-joint assistance by contact force generation

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

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