Sensor Reduction, Estimation, and Control of an Upper-Limb Exoskeleton

Sun, Jianwei; Shen, Yang; Rosén, Jacob

doi:10.1109/lra.2021.3056366

Cited by 21 publications

(13 citation statements)

References 28 publications

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“…Qi et al, in [ 117 ], proposed an improved greedy reduction algorithm; the data from seventeen sensors in a LLE were collected, and the set theory and the improved greedy algorithm were used to reduce and select the suitable set of sensors. Sun et al, in [ 118 ], presented a sensor reduction technique for force/torque sensors utilizing a Kalman filter-based sensor fusion system.…”

Section: Analytical Reviewmentioning

confidence: 99%

“…Forearm p1. Rehabilitation/Medical applications [ 81 ]

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Section: Figure A1mentioning

confidence: 99%

“…Trunk A1. Electric Actuation A1.a DC [ 106 ]; [ 118 ]; [ 170 ]; [ 217 ]; [ 138 ]; [ 119 ]; [ 154 ]; [ 25 ]; [ 59 ]; [ 131 ]; [ 141 ]; [ 244 ]; [ 219 ]; [ 79 ]; [ 180 ]; [ 182 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 223 ]; [ 194 ]; [ 241 ]; [ 124 ]; [ 137 ]; [ 136 ]; [ 227 ]; [ 151 ]

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Section: Figure A1unclassified

“…Haptic A1. Electric Actuation A1.a DC [ 206 ]; [ 51 ]; [ 106 ]; [ 180 ]; [ 118 ]; [ 209 ]; [ 182 ]; [ 184 ]; [ 186 ]; [ 210 ]; [ 193 ]; [ 194 ]; [ 139 ]; [ 52 ]; [ 200 ]; [ 119 ]; [ 67 ]; [ 25 ]; [ 157 ]

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Section: Figure A1unclassified

“…Encoders S2.a Pressure S2.b Torque S2.c Force S2.d IMU A1. Electric A1.a DC [ 106 ]; [ 107 ]; [ 186 ]; [ 137 ]; [ 240 ]; [ 89 ]; [ 126 ]; [ 118 ]; [ 223 ]; [ 240 ]; [ 78 ]; [ 126 ]; [ 194 ]; [ 200 ]; [ 232 ]; [ 157 ]; [ 53 ]; [ 213 ]; [ 244 ]; [ 150 ]; [ 127 ]; [ 123 ]; [ 180 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 200 ]; …”

Section: Figure A1mentioning

confidence: 99%

See 4 more Smart Citations

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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Section: Analytical Reviewmentioning

confidence: 99%

“…Forearm p1. Rehabilitation/Medical applications [ 81 ]

; [ 82 ]

; [ 106 ]; [ 118 ]

; [ 169 ]

; [ 100 ]; [ 170 ]

; [ 111 ]

; [ 171 ]

; [ 172 ]

; [ 99 ]

; [ 173 ]

; [ 86 ]

; [ 115 ]; [ 119 ]

; [ 25 ]; [ 73 ]; [ 103 ]

; [ 174 ]

; [ 58 ] …”

Section: Figure A1mentioning

confidence: 99%

; [ 240 ]

; [ 89 ]; [ 200 ]; [ 232 ]; [ 101 ]; [ 78 ]; [ 233 ]; [ 145 ]; [ 143 ]; [ …”

Section: Figure A1unclassified

; [ 160 ]; [ 61 ]; [ 101 ]; [ 131 ]; [ 121 ]; [ 133 ]; [ 213 ]; [ 141 ]; [ 150 ]; [ 61 ]; [ 219 ]; [ 107 ]

; [ 236 ]; [ 237 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 223 …”

Section: Figure A1unclassified

Section: Figure A1mentioning

confidence: 99%

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Sensors and Actuation Technologies in Exoskeletons: A Review

Tiboni

Borboni

Vérité

et al. 2022

Sensors

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Control Method of Upper Limb Rehabilitation Exoskeleton for Better Assistance: A Comprehensive Review

Wang,

Ren,

et al. 2024

Journal of Field Robotics

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The upper limb rehabilitation exoskeleton is a robotic‐arm‐like device that fits the human upper limb and assists in movement, having the potential to be widely used in medical practice. The control method of the upper limb rehabilitation exoskeleton system is an important factor that affects the effectiveness of its rehabilitation training assistance and is also the focus of research in this field. In this article, we divide the control method of the upper limb rehabilitation exoskeleton into two levels, the high‐level control mode (including passive mode, active mode, and ANN, etc.) and the low‐level controller. The design of the controller aims to meet the requirements of the control mode but faces difficulties such as complex dynamic models of the system, unknown external disturbances, and motion intention recognition to achieve accurate motion trajectory tracking and flexible human–robot interaction. Based on relevant literature in the field of upper limb rehabilitation exoskeleton control methods in recent years, we analyze the rehabilitation training control modes that researchers aim to achieve, as well as the work they have done in controller design to achieve these control modes. We also propose potential research directions for achieving better exoskeleton‐assisted training effects.

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Distributed order estimation for continuous-time stochastic systems

Zhu,

Liu,

2024

Control Theory Technol.

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In this paper, we investigate the distributed estimation problem of continuous-time stochastic dynamic systems over sensor networks when both the system order and parameters are unknown. We propose a local information criterion (LIC) based on the $$L_0$$ L 0 penalty term. By minimizing LIC at the diffusion time instant and utilizing the continuous-time diffusion least squares algorithm, we obtain a distributed estimation algorithm to simultaneously estimate the unknown order and the parameters of the system. By dealing with the effect of the system noises and the coupling relationship between estimation of system orders and parameters, we establish the almost sure convergence results of the proposed distributed estimation algorithm. Furthermore, we give a simulation example to verify the effectiveness of the distributed algorithm in estimating the system order and parameters.

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Sensor Reduction, Estimation, and Control of an Upper-Limb Exoskeleton

Cited by 21 publications

References 28 publications

Sensors and Actuation Technologies in Exoskeletons: A Review

Sensors and Actuation Technologies in Exoskeletons: A Review

Control Method of Upper Limb Rehabilitation Exoskeleton for Better Assistance: A Comprehensive Review

Distributed order estimation for continuous-time stochastic systems

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