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Design And Motion Control Of A Lower Limb Robotic Exoskeleton
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Book Synopsis Design and Motion Control of a Lower Limb Robotic Exoskeleton by : Ümit Önen
Download or read book Design and Motion Control of a Lower Limb Robotic Exoskeleton written by Ümit Önen and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter presents the results of research work on design, actuator selection and motion control of a lower extremity exoskeleton developed to provide legged mobility to spinal cord injured (SCI) individuals. The exoskeleton has two degrees of freedom per leg. Hip and knee joints are actuated in the sagittal plane by using DC servomotors. Additional effort supplied by user's arms through crutches is defined as user support rate (USR). Experimentally determined USR values are considered in actuator torque computations for achieving a realistic actuator selection. A custom-embedded system is used to control exoskeleton. Reference joint trajectories are determined by using clinical gait analysis (CGA). Three-loop cascade controllers with current, velocity and position feedback are designed for controlling the joint motions of the exoskeleton. A non-linear ARX model is used to determine controller parameters. Overall performance and an assistive effect of WSE-2 are experimentally investigated by conducting tests with a paraplegic patient with T10 complete injury.
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Book Synopsis Advances in Mechanism and Machine Science by : Tadeusz Uhl
Download or read book Advances in Mechanism and Machine Science written by Tadeusz Uhl and published by Springer. This book was released on 2019-06-13 with total page 4248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Book Synopsis Design and Implementation of a Robotic Lower Limb Exoskeleton by : Jared Mednick
Download or read book Design and Implementation of a Robotic Lower Limb Exoskeleton written by Jared Mednick and published by . This book was released on 2011 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
Download or read book Social Robotics written by Shuzhi Sam Ge and published by Springer. This book was released on 2012-11-04 with total page 679 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Social Robotics, ICSR 2012, held in Chengdu, China, in October 2012. The 66 revised full papers were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on affective and cognitive sciences for socially interactive robots, situated interaction and embodiment, robots to assist the elderly and persons with disabilities, social acceptance of robots and their impact to the society, artificial empathy, HRI through non-verbal communication and control, social telepresence robots, embodiments and networks, interaction and collaboration among robots, humans and environment, human augmentation, rehabilitation, and medical robots I and II.
Book Synopsis Exoskeletons in Rehabilitation Robotics by : Eduardo Rocon
Download or read book Exoskeletons in Rehabilitation Robotics written by Eduardo Rocon and published by Springer. This book was released on 2011-02-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.
Book Synopsis Field and Service Robotics by : Peter Corke
Download or read book Field and Service Robotics written by Peter Corke and published by Springer Science & Business Media. This book was released on 2006-08-03 with total page 620 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots. This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
Book Synopsis Design and Operation of Human Locomotion Systems by : Marco Cecarelli
Download or read book Design and Operation of Human Locomotion Systems written by Marco Cecarelli and published by Academic Press. This book was released on 2019-09-10 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. - Written and contributed by leading experts in robotics and locomotion systems - Addresses humanoid locomotion from both design and control viewpoints - Discusses the design and control of multi-legged locomotion systems
Book Synopsis Exoskeleton Robots for Rehabilitation and Healthcare Devices by : Manuel Cardona
Download or read book Exoskeleton Robots for Rehabilitation and Healthcare Devices written by Manuel Cardona and published by Springer Nature. This book was released on 2020-05-26 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses cutting-edge topics in robotics and related technologies for rehabilitation, covering basic concepts and providing the reader with the information they need to solve various practical problems. Intended as a reference guide to the application of robotics in rehabilitation, it covers e.g. musculoskeletal modelling, gait analysis, biomechanics, robotics modelling and simulation, sensors, wearable devices, and the Internet of Medical Things.
Book Synopsis Development of a Lightweight and High Strength Underactuated Lower Limb Robot Exoskeleton for Gait Rehabilitation by : Fahad Hussain
Download or read book Development of a Lightweight and High Strength Underactuated Lower Limb Robot Exoskeleton for Gait Rehabilitation written by Fahad Hussain and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robot-assisted physical rehabilitation and robotics technology for providing support to the elderly population is rapidly evolving. Lower limb robot aided rehabilitation and assistive technology have been a focus for the engineering community over the last three decades as several robotic lower limb exoskeletons have been proposed in the literature as well as some being commercially available. One of the most important aspects of developing exoskeletons is the selection of the appropriate material. Strength to weight ratio is the most important factor to be considered before selection of a manufacturing material. The material selection strongly influences the overall weight and performance of the exoskeleton robot. In addition to material selection the type of mechanism and the actuation strongly effect the overall weight of the lower limb robotic exoskeleton. Most of the lower limb exoskeleton provided in the literature use a parallel mechanism, are properly actuated and either use aluminium or steel as their manufacturing materials. All these factors significantly increase the weight of the lower limb robot exoskeleton and make the device heavy, bulky, and uncomfortable for the wearer. Furthermore, an increase in weight contributes to a decrease of energy efficiency, reduces the energy efficiency of the final product, and increase the running cost of the designed robot devices. This thesis explores the wide-ranging potential of lower limb robot exoskeletons in the context of physical rehabilitation. Implementation and testing of a lightweight and high strength material without effecting the reliability was the main research objective of the present work. In this research, a linkage based under-actuated mechanism was used for the development of a lightweight design. Structural and mechanical load analysis of the mechanism was performed by using an advanced approach of finite element analysis. Three materials, namely structural steel, aluminium, and carbon reinforced fibre were compared as the manufacturing materials of the modelled mechanism. After that, a weight estimation was carried out for all three materials and the material which exhibits the best response under mechanical load analysis was selected. From the weight comparison, the carbon reinforced fibre provided the least weight for the digital twin of a lower limb exoskeleton. After material selection, the next step was the topology optimisation to further decrease the mass of the designed prototype without effecting the mechanical performance. The optimisation was carried out by using a multi-mode single objective genetic algorithm (GA) and a reduction of 30 % in the weight of the designed prototype was obtained. The selected material, which is carbon fibre, is a type of polymer material that is highly anisotropic, meaning it shows different material behaviour in different orientations of applied force. The next stage of the research work was the material characterization of the manufacturing material, which was carried out both analytically and experimentally. For defining the optimal criteria for fiber orientation, Hashin's Failure Criteria is considered, and experimental work is performed to determine the most suitable fibre orientation. The material monotonic tensile properties were experimentally determined by experimental work and used to select a suitable orientation to manufacture a physical prototype model of the lower limb robot exoskeleton. After that the manufacturing process was carried out which is divided into three main steps. The first step was the use of the suitable lightweight and high strength material, which was selected by weight comparison in the design stage. The second step was the use of a single actuator to actuate the whole mechanical system and the final step was the use fabrication method to get a strong and reliable structure. Shaping of the different exoskeleton parts was carried out by CNC milling and parts were assembled to build a robotic prototype. A DC motor was used to actuate the complete prototype, which includes hip, knee, and ankle joints. In the end, a reliability analysis was carried out by using a machine learning based approach. A machine learning framework was developed for time-dependent reliability analysis of the developed robot. A neural network algorithm was designed to estimate the time-dependent reliability of the joint displacement and the positions of the end-effector first. From the above methodology, a lightweight and high strength lower limb robot exoskeleton was just not only conceptualized but a significant work was done to get a physical model starting from the material selection and concluding with the fabrication of a physical prototype. The reliability analysis gives an overview of the mechanism safety as a function of joint displacement. The designed prototype of carbon reinforced fibre was four times lighter in weight as compared to steel and three times lighter than aluminium, which is expected to give the wearer a comfortable wearing experience and improves the overall physical rehabilitation experience for the patients.
Book Synopsis Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton by : Yuehong Yin
Download or read book Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton written by Yuehong Yin and published by CRC Press. This book was released on 2019-09-05 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on skeletal muscle biomechanical model, and SMA-based bionic skeletal muscle technology. This comprehensive and in-depth book presents the author's research experience and achievements of many years to readers in an effort to promote academic exchanges in this field. About the Author Yuehong Yin received his B.E. , M.S. and Ph.D. degrees from Nanjing University of Aeronautics and Astronautics, Nanjing, in 1990, 1995 and 1997, respectively, all in mechanical engineering. From December 1997 to December 1999, he was a Postdoctoral Fellow with Zhejiang University, Hangzhou, China, where he became an Associate Professor in July 1999. Since December 1999, he has been with the Robotics Institute, Shanghai Jiao Tong University, Shanghai, China, where he became a Professor and a Tenure Professor in December 2005 and January 2016, respectively. His research interests include robotics, force control, exoskeleton robot, molecular motor, artificial limb, robotic assembly, reconfigurable assembly system, and augmented reality. Dr. Yin is a fellow of the International Academy of Production Engineering (CIRP).
Book Synopsis Design and Operation of Human Locomotion Systems by : Marco Ceccarelli
Download or read book Design and Operation of Human Locomotion Systems written by Marco Ceccarelli and published by Academic Press. This book was released on 2019-10-15 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems
Book Synopsis Wearable Exoskeleton Systems by : Shaoping Bai
Download or read book Wearable Exoskeleton Systems written by Shaoping Bai and published by Control, Robotics and Sensors. This book was released on 2018 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc. In this book, the editors and authors report recent advances and technology breakthroughs in exoskeleton developments. It will be of interest to engineers and researchers in academia and industry as well as manufacturing companies interested in developing new markets in wearable exoskeleton robotics.
Book Synopsis Soft Robotics in Rehabilitation by : Amir Jafari
Download or read book Soft Robotics in Rehabilitation written by Amir Jafari and published by Academic Press. This book was released on 2021-02-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft Robotics in Rehabilitation explores the specific branch of robotics dealing with developing robots from compliant and flexible materials. Unlike robots built from rigid materials, soft robots behave the way in which living organs move and adapt to their surroundings and allow for increased flexibility and adaptability for the user. This book is a comprehensive reference discussing the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs. The book examines various techniques applied in soft robotics, including the development of soft actuators, rigid actuators with soft behavior, intrinsically soft actuators, and soft sensors. This book is perfect for graduate students, researchers, and professional engineers in robotics, control, mechanical, and electrical engineering who are interested in soft robotics, artificial intelligence, rehabilitation therapy, and medical and rehabilitation device design and manufacturing. - Outlines the application of soft robotic techniques to design platforms that provide rehabilitation therapy for disabled persons to help improve their motor functions - Discusses the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs - Offers readers the ability to find soft robotics devices, methods, and results for any limb, and then compare the results with other options provided in the book
Book Synopsis Proceedings of the Scientific-Practical Conference "Research and Development - 2016" by : K. V. Anisimov
Download or read book Proceedings of the Scientific-Practical Conference "Research and Development - 2016" written by K. V. Anisimov and published by Springer. This book was released on 2017-12-04 with total page 715 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book relates to the III Annual Conference hosted by The Ministry of Education and Science of the Russian Federation in December 2016. This event has summarized, analyzed and discussed the interim results, academic outputs and scientific achievements of the Russian Federal Targeted Programme “Research and Development in Priority Areas of Development of the Russian Scientific and Technological Complex for 2014–2020.” It contains 75 selected papers from 6 areas considered priority by the Federal Targeted Programme: computer science, ecology & environment sciences; energy and energy efficiency; lifesciences; nanoscience & nanotechnology and transport & communications. The chapters report the results of the 3-years research projects supported by the Programme and finalized in 2016.
Book Synopsis Energy Recycling and Management for Lower Limb Exoskeleton by : Hao Lee
Download or read book Energy Recycling and Management for Lower Limb Exoskeleton written by Hao Lee and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower Limb Exoskeleton, a wearable robot that is designed to provide lower limb assistance to users, has been rapidly developed in the previous decade. The goal of these robots is to replace human labor with robots while still having humans involved. However, while these robot suits provide sufficient assistance to the users, the efficiency of the robot is often overseen. Thus, restrict the exoskeleton's operating time or required it to connect to an external power supply. However, there is plenty of energy wasted in human motions. In this study, we target "loaded bipedal walking" as the primary motion to assist. In chapter 2, we applied trajectory optimization on different mechanical designs for lower-limb exoskeletons. It is commonly known that humans tend to use more energy to walk compared to other limb-based locomotion animals. This higher energy usage is due to "heel strikes" and "negative work" during human gait. Passive walkers elevate this phenomenon by utilizing elastic joints that absorb/reuse some of the negative work. The objective of this study is to absorb energy at one phase of the gait cycle, store it, and then release it at a later phase through the use of a lower limb exoskeleton. Knee geometry is one important factor in energy efficiency during gait. Animals with reversed knees compared to humans (backward knee), such as ostriches, exhibit improved energy efficiency. As part of this study, new energy optimization strategies were developed utilizing collision-based ground reaction forces and a discrete lagrangian. The minimal cost of transport (CoT) gait patterns were calculated with both forward-knee and backward-knee human-exoskeleton models. Simulation results show that wearing a backward-knee exoskeleton can reduce the CoT by 15% of while carrying external loads ranging from 20 to 60 kg. In addition, when the exoskeleton utilized energy recycling, the CoT was shown to be further reduced to 35%. These simulation results suggested that the optimal design for an exoskeleton aimed at utilizing energy recycling principles should incorporate backward-knee configurations much like those found in energy-efficient biped/quadruped animals. In fact, since the potential energy sources (heel strikes, negative work) and the main energy consumer (ankle push-off) occurs in the opposite legs, the ideal actuators for the exoskeleton need to be able to recycle, store, and transfer energy between different legs. To satisfy the actuator's requirements from chapter 2, in chapter 3 we choose pneumatic actuators as the actuator for our exoskeleton. Pneumatic actuators are a popular choice for wearable robotics due to their high force-to-weight ratio and natural compliance, which allows them to absorb and reuse wasted energy during movement. However, traditional pneumatic control is energy inefficient and difficult to precisely control due to nonlinear dynamics, latency, and the challenge of quantifying mechanical properties. To address these issues, In chapter 3, we developed a wearable pneumatic actuator with energy recycling capabilities and applied the sparse identification of nonlinear dynamics (SINDy) algorithm to generate a nonlinear delayed differential model from simple pressure measurements. Using only basic knowledge of thermal dynamics, SINDy was able to train models of solenoid valve-based pneumatic systems with a training accuracy of 90.58% and a test accuracy of 86.44%. The generated model, when integrated with model predictive control (MPC), resulted in a 5% error in pressure control. By using MPC for human assistive impedance control, the actuator was able to output the desired force profile and recycle around 88% of the energy used in negative work. These results demonstrate an energy-efficient and easily calibrated actuation scheme for designing assistive devices such as exoskeletons and orthoses. In chapter 4, we presented Pneumatic Exoskeleton with Reversible Knee (PERK). It utilizes the pneumatic actuators we developed in chapter 3 and the control strategies we concluded in chapter 2. Three clinical trials were done on three different test subjects. The results showed despite different walking patterns across different test subjects, there is less potential energy change during the swing phase of walking, potentially reducing the energy loss during the heel strike. In addition, during the double support phase, there is less energy consumption in the pneumatic system while configuring it as backward-knee, indicating it is easier or more intuitive for the user to have the exoskeleton recycling the dissipated energy with the backward-knee mechanism.
