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Powered exoskeletons have widespread future rehabilitation, medical and military applications. Current exoskeletons are challenging to use. They dynamically influence the human user such that he has to adapt his motions to the exoskeleton. This is due to the fact that the potential arising from an optimal integration of mechanics, electronics and control software has not been fully exploited during...
A lower extremity exoskeleton is designed and a novel control method based on RBF neural network identification is proposed to guarantee the exoskeleton identifies the pilot's motion intention independently. The propose method considers the pilot wearing assistance exoskeleton as an unknown system, and the RBF neural network is employed to identify the system's motion trajectories and the identification...
We present a control strategy for the shoulder mechanism of an upper-body exoskeleton, called HARMONY, to assist in achieving coordinated motion at the shoulder complex. HARMONY is equipped with a novel mechanism that supports the natural mobility of the human shoulder, including the scapulohumeral rhythm, which is the coordinated motion between the upper arm (humerus) and shoulder blade (scapula)...
This paper presents a teleoperation system for two six-degree-of-freedom ARMin arm rehabilitation skeletons. Two control strategies are presented: unilateral teleoperation, which is realized with proportional-derivative controllers, and bilateral teleoperation, which is realized with compliance control and torque feedback. An empirical procedure for identifying the best control gains of the unilateral...
Nowadays, a comfortable ankle prosthesis with natural walking gait for the amputee has become an important requisite. In this paper, a new kind of active ankle prosthesis is presented, which can not only help amputees walk naturally, but also reduce energy consumption by recycling. Firstly, the structure of ankle prosthesis was proposed. And then, dynamic simulation and structure parameters optimization...
In this study, a new active impedance control method of a knee joint orthosis is proposed by using a nonlinear observer to estimate the human joint torque. The proposed method is an alternative to the sensor-based impedance controller in which the human joint torque is estimated by using the electromyography (EMG) sensor, force/torque sensors, etc. The use of the nonlinear observer can efficiently...
This paper presents an adaptive control approach of an actuated orthosis for the human knee joint rehabilitation. The objective of the proposed technique is to help patients to follow the guidelines of movement imposed by the therapists in terms of position and velocity. This is achieved by a system consisting of a mechanical orthosis actuated by an electrical driven motor. No needed prior knowledge...
Rehabilitation robotics is a growing field which is on the verge of exploring novel actuation technologies that allows the designers to build assistive devices with large power to weight ratios without compromising the transparency of the system. In this paper a novel push-pull cable driven technology implemented in the CORBYS rehabilitation system as a solution for a proximally actuated device is...
In the past couple of years, the concept of exosuits has emerged. These soft, robotic devices are primarily made of textiles and can be worn like clothes. They assist the user during specific motions by transmitting forces around the human joints making use of the bone structure. By definition, these systems lack rigid structures as they are used in traditional exoskeletons. Hence, exosuits are able...
This paper presents a novel device that can be attached to a lower-limb exoskeleton to assist lower extremity hemiplegic patients during sitting down and standing up. Such device serves as a self-adaptive exoskeleton chair. The mechanical design has simple structure, great applicability, reliability and high driving efficiency. This paper first models and analysis the muscle forces during standing...
The space station modules form various configuration at different mission phase, and large scale robotic arm is one of the ways to realize the assembly of space modules on orbit. This paper made integrated simulation of dynamics and controlling models about aerocraft and 7-Dof rigid-flexible coupling robotic arm by Simulink and ADAMS. It makes the simulating analysis of the process of robotic arm...
The paper presents a determination method of a quantitative and qualitative description of the interaction between two-wheeled self-balancing vehicle and its rider. This leads to the problem of finding parameters of a control law for the rider controlling system. The propose method is based on the comparison of experimental results with the computer simulation results. The mathematical model of the...
This paper describes the anatomical design of a novel wrist therapy device. The device automatically adjusts to the size of the wearer's wrist and is designed so it only applies a torque about the wrist joint, avoiding any uncontrolled interaction forces which commonly occur with standard rotary joint exoskeletons. The device will also adapt for any wrist misalignment that occurs during donning of...
Gravity balancing has great significance in many rehabilitation applications and one example is in minimizing the resistance of lifting a patient's upper limb due to its own weight. As compared to commonly used active method in exoskeleton, passive weight compensation offers many other advantages such as elimination of motors which reduces the overall load acting on the patient. However, the torque...
This paper introduces a novel control strategy for a multi-joint lower-limb exoskeleton during ground-level walking assistive tasks. It is aimed to define a physiologically consistent assistance to the human movements without engaging a complex sensory apparatus, hence providing a simple and comfortable human-robot interface. The control system is a two-block structure: one is based on adaptive oscillators...
This paper presents the MR-SoftWrist: a parallel 3DOF MR-compatible wrist robot with compliant actuation. Through a design that aligns the wrist joint axes to the device DOFs and uses custom MR-compatible force-feedback actuation, the MR-SoftWrist can measure and support wrist movements during fMRI. The device has a circular workspace for wrist flexion/extension and radial/ulnar deviation with 18...
A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic...
This paper presents a compliant landing control strategy for a trotting quadruped robot on unknown rough terrains based on contact force distribution/control algorithm. As joint actuator, the model of hydraulic cylinder is identified by using frequency response method. The compliant control strategy consists of three control loop: outer-loop is position and orientation of body control loop, in which...
Force feedback controller (haptic device) is the key part of a master-slave tele-operation system. It can transmit its position, orientation and velocity to remotely operate the controlled object; at the same time it can acquire information of force/torque from the remote object, and rebuild those to the operator by enabling a force sense telepresence. In this paper, a new type force feedback controller...
While many upper-extremity exoskeleton systems have been developed for rehabilitation, there are still challenges in designing an exoskeleton which has a back-drivable joint for assured safety and simultaneously can generate large assistive torque. This paper introduces a newly developed upper-extremity exoskeleton robot intended as a rehabilitation platform specialized for elevation of shoulder joint...
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