Sistema Avanzado de Protipado Rápido para Control en la Educación en Ingeniería para grupos Multidisciplinares

Caballero, Antonio Flores; Copaci, Dorin; Peciña, Álvaro Villoslada; Rojas, Dolores Blanco; Lorente, Luis Enrique Moreno

doi:10.1016/j.riai.2016.05.004

Cited by 15 publications

(9 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The controller is a 32 bits microcontroller STM32F4 from STMicroelectronics R , which can be fully programmed with Matlab/Simulink R [30]. With the electronics, the control hardware architecture is capable of managing16 distinct actuators (each actuator with one or more SMA wires).…”

Section: E Electronic Hardwarementioning

confidence: 99%

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

et al. 2019

View full text Add to dashboard Cite

A large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject's ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This paper introduces a prototype of exoskeleton for the evaluation and rehabilitation therapy of the elbow joint in flexion extension and pronation-supination. The main novelty is the use of bioinspired actuators based on shape memory alloys (for the first time) in an upper limb rehabilitation exoskeleton. Because of this, the device presents a light weight, less than 1 kg, and noiseless operation, both characteristics are very beneficial for rehabilitation therapies. In addition, the prototype has been designed with low-cost electronics and materials, and the result is a wearable, comfortable, and cheap rehabilitation exoskeleton for the elbow joint. The exoskeleton can generate the joint torque (active mode) or it can be used as a passive tool. (The patient performs therapy by itself, carrying the device while it collects relevant movement data for evaluation.) The simulations and experimental tests validate the solution in the first phases of rehabilitation therapies when slow and repetitive movements are required. INDEX TERMS Antagonist control, elbow rehabilitation, exoskeleton, shape memory alloy (SMA), wearable robotics.

show abstract

Section: E Electronic Hardwarementioning

confidence: 99%

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

et al. 2019

View full text Add to dashboard Cite

show abstract

“…• the controller, which is based on STM32F4 from STMicroelectronics R . This was fully programmed with Matlab/Simulink R [18]. Together with the power electronics, this can manage four distinct actuators.…”

Section: Electronic Hardwarementioning

confidence: 99%

Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

2019

View full text Add to dashboard Cite

New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.

show abstract

“…The controller is a 32-bit microcontroller STM32F407G from STMicroelectronics R , which can be fully programmed with Matlab/Simulink R (Caballero et al, 2016).…”

Section: Electronics Hardwarementioning

confidence: 99%

Two-Stage Shape Memory Alloy Identification Based on the Hammerstein–Wiener Model

2019

View full text Add to dashboard Cite

Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseless operation and simplicity, and relatively low-cost compared with other conventional actuators, actuators based on shape memory alloy are currently one of the most interesting research topics. They have been introduced in applications such robotics, medicine, automation, and so on. For a good actuator integration of these types of applications, proper control is needed, which seems to be a difficult task due to the hysteresis, dilatory response, and non-linear behavior. This work presents a new form of modeling of this type of actuator based on Hammerstein-Wiener model. This has been identified in two stages of the operation. When the activation temperature for the actuator is obtained by the Joule effect, electrically energy is transformed into thermal energy. In the second stage, the thermal energy is transformed into mechanical work. To fulfill this objective, experimental data [e.g., the input signal (pulse-width modulation), temperature signal, and position signal] from the two stages was obtained for a specific shape memory alloy wire and for specific environmental conditions. This data was used in the modeling process. The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. Our results indicate that our model has a very similar response to the behavior of the real actuator. This model can be used to tune different control algorithms, simulate the entry system before manufacture and test on real devices.

show abstract

Sistema Avanzado de Protipado Rápido para Control en la Educación en Ingeniería para grupos Multidisciplinares

Cited by 15 publications

References 23 publications

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

Two-Stage Shape Memory Alloy Identification Based on the Hammerstein–Wiener Model

Contact Info

Product

Resources

About