Wheel-Legged Robotic Limb to Assist Human With Load Carriage: An Application For Environmental Disinfection During COVID-19

Leng, Yuquan; Lin, Xin; Huang, GQ; Hao, Ming; Wu, Jing; Xiang, Yanzhen; Zhang, Kuangen; Fu, Chenglong

doi:10.1109/lra.2021.3065197

Cited by 19 publications

(5 citation statements)

References 28 publications

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“…These SRLs are kinematically independent of the human body and provide support without limiting the natural limb movement, avoiding the difficulties of joint alignment [98]. Based on the above concepts, robotic limb designed with a wheel-leg [99] and other types of SRL robot which are capable of following the human gait to provide support [44], shown in Figure 3(d), have been developed. In addition to carrying additional loads while walking, other functions of SRL exoskeletons have also been explored, which allow such exoskeletons to be used in wider applications, such as providing support during loaded squatting and crawling [100] and supporting body weight while completing fatiguing postures such as hunching and hanging from the ceiling [101,102].…”

Section: Exoskeletons Transferring Load To the Groundmentioning

confidence: 99%

A review of the design of load-carrying exoskeletons

Liang

Zhang

Liu

et al. 2022

Sci. China Technol. Sci.

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The increasing necessity of load-carrying activities has led to greater human musculoskeletal damage and an increased metabolic cost. With the rise of exoskeleton technology, researchers have begun exploring different approaches to developing wearable robots to augment human load-carrying ability. However, there is a lack of systematic discussion on biomechanics, mechanical designs, and augmentation performance. To achieve this, extensive studies have been reviewed and 108 references are selected mainly from 2013 to 2022 to address the most recent development. Other earlier 20 studies are selected to present the origin of different design principles. In terms of the way to achieve load-carrying augmentation, the exoskeletons reviewed in this paper are sorted by four categories based on the design principles, namely load-suspended backpacks, lower-limb exoskeletons providing joint torques, exoskeletons transferring load to the ground and exoskeletons transferring load between body segments. Specifically, the driving modes of active and passive, the structure of rigid and flexible, the conflict between assistive performance and the mass penalty of the exoskeleton, and the autonomy are discussed in detail in each section to illustrate the advances, challenges, and future trends of exoskeletons designed to carry loads.

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Section: Exoskeletons Transferring Load To the Groundmentioning

confidence: 99%

A review of the design of load-carrying exoskeletons

Liang

Zhang

Liu

et al. 2022

Sci. China Technol. Sci.

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show abstract

“…According to the survey result (Sada et al, 2017), anthropomorphic limbs such as humanlike limbs (Hanson, 2006) are more popular. SLGs imitate the function of natural lower limbs (Yang et al, 2021a); they mostly have two extra robotic legs (Parietti et al, 2015;Treers et al, 2016;Gonzalez and Asada, 2018), or a have single additional robotic leg (Leng et al, 2021;Khazoom et al, 2020) in rare cases. These robotic legs are independent of the motion of the human legs and are therefore free to make contact with the ground in places that cannot be reached by the user's limbs.…”

Section: Classification Of Supernumerary Robotic Limbsmentioning

confidence: 99%

“…SRLs can not only be applied to aircraft assembly but also be extended to various fields. The researchers have proposed numerous types of SRLs for industrial manufacturing (Davenport et al , 2012), medical rehabilitation (Leng et al , 2021), life services (Dinata and Lin, 2019; Ort et al , 2015), construction (Shin et al , 2015), agriculture (Veronneau et al , 2020) and so on. However, the development is still in its nascent stages and further studies are needed especially for system design.…”

Section: Introductionmentioning

confidence: 99%

A human augmentation device design review: supernumerary robotic limbs

Liao

Chen²,

Chang³

et al. 2022

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Purpose Supernumerary robotic limbs (SRLs) are a new type of wearable robot, which improve the user’s operating and perceive the user’s environment by extra robotic limbs. There are some literature reviews about the SRLs’ key technology and development trend, but the design of SRLs has not been fully discussed and summarized. This paper aims to focus on the design of SRLs and provides a comprehensive review of the ontological structure design of SRLs. Design/methodology/approach In this paper, the related literature of SRLs is summarized and analyzed by VOSviewer. The structural features of different types of SRLs are extracted, and then discuss the design approach and characteristics of SRLs which are different from typical wearable robots. Findings The design concept of SRLs is different from the conventional wearable robots. SRLs have various reconfiguration and installed positions, and it will influence the safety and cooperativeness performance of SRLs. Originality/value This paper focuses on discussing the structural design of SRLs by literature review, and this review will help researchers understand the structural features of SRLs and key points of the ontological design of SRLs, which can be used as a reference for designing SRLs.

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“…[ 7 ] Furthermore, considering the expanded workspace, a higher level of dexterity is achieved, and SRLs can coordinate tasks among human workers, which is highly valuable, particularly for exhausting or dangerous tasks. [ 8–10 ] SRLs are classified into three branches: supernumerary robotic arms, supernumerary robotic legs (SRLGs), and supernumerary robotic fingers, each of which is equipped with functionalities similar to those of corresponding human limbs. [ 11 ]…”

Section: Introductionmentioning

confidence: 99%

Configuration Design and Analysis of Reconfigurable Supernumerary Robotic Legs for Multitask Adaptation: SuperLegs

Zhang,

Li,

Tang

et al. 2023

Advanced Intelligent Systems

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Supernumerary robotic limbs (SRLs) are a new type of wearable robot that add artificial limbs to the human body to perform collaborative tasks. In contrast with exoskeletons, SRLs are kinematically independent of human limbs, allowing the wearer to overcome the limitations of human physiological ability, such as realizing the expansion of space in the human body, rather than enhancing existing limbs. In this study, a lightweight and compact hexagonal reconfigurable lower‐limb SRL system is proposed to assist human locomotion in daily activities, including walking, crouching, and stair climbing. To adapt to multiple scenarios, the hexagonal mechanism can be adjusted to different configurations including convex hexagonal configuration, pentagonal configuration, and concave hexagonal configuration. To achieve more optimized performance of different configurations, the optimization for identifying the optimal dimensions of each link was carried out. Subsequently, the detailed design methodology and specifics are presented. Finally, the load and wearing performance experiments were evaluated. The experiment results demonstrated that the tested maximum load in different configurations exceeded 90% of the simulated value and the entire equipment has a good wearing adaptability. This study may inspire the design of other lower‐limb SRLs and provide efficient solutions for stable support assistance in various scenarios.

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Wheel-Legged Robotic Limb to Assist Human With Load Carriage: An Application For Environmental Disinfection During COVID-19

Cited by 19 publications

References 28 publications

A review of the design of load-carrying exoskeletons

A review of the design of load-carrying exoskeletons

A human augmentation device design review: supernumerary robotic limbs

Configuration Design and Analysis of Reconfigurable Supernumerary Robotic Legs for Multitask Adaptation: SuperLegs

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