The MACCEPA actuation system as torque actuator in the gait rehabilitation robot ALTACRO

Cherelle, Pierre; Grosu, Victor; Beyl, Pieter; Mathys, Aurore; Ham, Ronald Van; Damme, Michaël Van; Vanderborght, Bram; Lefeber, Dirk

doi:10.1109/biorob.2010.5627030

Cited by 37 publications

(20 citation statements)

References 10 publications

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“…A simplification of this concept was successfully implemented by [9] on a hard exoskeleton. Also the Maccepa mechanism [10], [11], [12] has been demonstrated to be highly efficient in the use of wearable robots. Other combination of compliant elements can be found in literature, such as [13], [14], [15], [16] and more recently [17] on a soft elbow exoskeleton.…”

Section: Introductionmentioning

confidence: 99%

Energy Efficiency Analysis and Design Optimization of an Actuation System in a Soft Modular Lower Limb Exoskeleton

Ortiz

Poliero

Cairoli

et al. 2018

IEEE Robot. Autom. Lett.

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One of the critical aspects in the design of an assistive wearable robot is the energy efficiency of the actuation system, since it affects significantly the weight and consequently the comfort of the system. Several strategies have been used in previous research, mostly based on energy harvesting, compliant elements for mechanical energy accumulation (springs or elastic cords), ratchets and clutches. However, the design of the optimal actuator arrangement is highly dependent on the task, which increases significantly the complexity of the design process. In this work we present an energy efficiency analysis and design optimization of an actuation system applied to a soft module lower limb exoskeleton. Instead of performing a comparison between predefined mechanism arrangements, we solve a full optimization problem which includes not only the mechanism parameters, but also the mechanism architecture itself. The optimization is performed for a walking task using gait data from a stroke subject, and the result is a set of actuator arrangements with optimal parameters for the analyzed task and selected user. The optimized mechanism is able to reduce the energy requirements by 20-65%, depending of the joint. The proposed mechanism is currently under development within the XoSoft EU project, a modular soft lower-limb exoskeleton to assist people with mobility impairments.

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Section: Introductionmentioning

confidence: 99%

Energy Efficiency Analysis and Design Optimization of an Actuation System in a Soft Modular Lower Limb Exoskeleton

Ortiz

Poliero

Cairoli

et al. 2018

IEEE Robot. Autom. Lett.

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“…Based on the VIACTORS [9] classification and a previous publication [10], spring preload actuators, such as the VS-joint [11] and the QA-Joint [12] from the German Aerospace Center (DLR, can exert the high torques required of the exoskeleton joints and adapt their compliance at an acceptable speed. The MACCEPA 2.0 [13] from Vrije Universiteit Brussel (VUB) has been incorporated into the rehabilitation device ALTACRO) [14]. The mechanism can take advantage of the elastic element to calculate a torque measure at the joint without the need for an external torque sensor.…”

Section: Introductionmentioning

confidence: 99%

A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)

Cestari

Sanz‐Merodio²,

García

2018

Actuators

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Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL) is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs) to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA) that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA) devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints.

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“…ーション用アシストスーツの開発が必要とされてきている (Riener et al, 2010) (Cherelle et al, 2010) (Bae et al, 2011) (長谷川, 山海, 2014)．このようなアシストスーツを開発する際，患者に対する安全性を考慮することが重要である．コンピュータや電気式センサを駆使しアシストスーツの安全性を向上させることは勿論であり，例えコンピュータや電気式センサが故障しアシストスーツの制御が不能となった場合でも，患者に対する安全性を確保する安全対策も重要であると考える．アシストスーツの制御が不能となった場合の安全対策として，非常停止ボタンや関節可動域リミッタが用いられる (Kawamoto et al, 2003) (Chen et al, 2007) (Riener, 2012 Fig. 1 Gait training using the assist suit for a patient's knee joint (Sugiyama et al, 2017).…”

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Development of a knee joint assist suit with a velocity-based mechanical safety device (Transient response analysis of the safety device and experiments)

Kaneda

Kai

Sugiyama

et al. 2019

Transactions of the JSME (In Japanese)

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Safety is one of the most important issues in rehabilitation assist suits. We have proposed and developed a rehabilitation assist suit equipped with a velocity-based mechanical safety device (VBMSD) to address this issue. The assist suit aids flection and extension of a patient's knee joint. The VBMSD switches off the motor of the assist suit when the angular velocity of the patient's knee joint exceeds a preset threshold level. The VBMSD works even under failure of the assist suit's computer, because it consists of only passive mechanical components without controllers, actuators, and batteries. In this VBMSD, the time delay between the instance of the velocity exceeding the threshold and the instance of the motor switched off is an important parameter. If the time delay is excessive, the motor may move a patient's leg at unexpected high velocities. Therefore, it is necessary to analyze the length of time delay and to experimentally validate the analysis. The analysis will also be useful for the design of future VBMSDs. In this paper, we theoretically derive the time delay using the transient response analysis of the VBMSD. Furthermore, we simulate how quickly the VBMSD responds to a rapidly increasing velocity by using the derived time delay. Finally, we present experimental results to verify the analysis and simulation.

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The MACCEPA actuation system as torque actuator in the gait rehabilitation robot ALTACRO

Cited by 37 publications

References 10 publications

Energy Efficiency Analysis and Design Optimization of an Actuation System in a Soft Modular Lower Limb Exoskeleton

Energy Efficiency Analysis and Design Optimization of an Actuation System in a Soft Modular Lower Limb Exoskeleton

A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)

Development of a knee joint assist suit with a velocity-based mechanical safety device (Transient response analysis of the safety device and experiments)

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