Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios DOI Creative Commons

Chen-Pin Yu,

Chun-Hung Huang,

Chao-Chieh Lan

et al.

IEEE Access, Journal Year: 2023, Volume and Issue: 11, P. 114378 - 114389

Published: Jan. 1, 2023

Existing robots rely on external sensors to detect and prevent potential human-robot collisions. However, with the growing demand for complex high-speed interaction, inherently safer actuators are becoming more desirable. Such offer robust protection against excessive impact force even when fail or become unavailable. Robot low reflected inertia effective stiffness necessary achieve mechanically interaction. This paper presents novel compliant high torque-to-inertia ratios torque-to-stiffness without compromising output torque of an actuator. Comparisons existing demonstrate that a robot proposed has much lower mass sensed at end-effector. Impact analysis is presented verify effectiveness ratios. To assess performance robot, pose repeatability experiment conducted, which shows end-effector position control precision comparable stiff despite inherent compliance actuators. These can be used build various human-friendly expected improve safety reliability

Language: Английский

Ultrafast, High‐Contractile Electrothermal‐Driven Liquid Crystal Elastomer Fibers towards Artificial Muscles DOI
Jiahao Sun,

Yunpeng Wang,

Wei Liao

et al.

Small, Journal Year: 2021, Volume and Issue: 17(44)

Published: Sept. 21, 2021

Abstract Liquid crystal elastomer (LCE) fibers are capable of large and reversible deformations, making them an ideal artificial muscle. However, limited to stimulating source structural design, current LCE have not yet achieved both contraction ratio fast rate perform the intense motion. In this work, electrothermal‐responsive liquid metal (LM) containing (LM‐LCE) is reported. By introducing flexible metal, LM‐LCE retain deformability with a similar that pure endowed electrical responsiveness. Applying precisely controlled stimulation, can be programmed by adjusting voltage value pulse time. Under stimulation at 1.25 V cm −1 , 0.1 s, produce over 40% ultrafast up 280% s . Furthermore, mimic human triceps muscle conduct precise ball shooting. excellent extend their functionality as muscles movements expected enrich challenging applications soft robots.

Language: Английский

Citations

124
Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review DOI Creative Commons
Manuel Andrés Vélez-Guerrero, Mauro Callejas-Cuervo, Stefano Mazzoleni

et al.

Sensors, Journal Year: 2021, Volume and Issue: 21(6), P. 2146 - 2146

Published: March 18, 2021

Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances trends of those technologies. A literature search was performed Scopus, IEEE Xplore, Web Science, PubMed using PRISMA (Preferred Reporting Items for Systematic Reviews Meta-Analyses) methodology with three main inclusion criteria: (a) or neuromotor rehabilitation upper limbs, (b) exoskeletons, (c) AI. The period under investigation spanned from 2016 to 2020, resulting 30 articles that met criteria. showed use neural networks (40%), adaptive algorithms (20%), other mixed AI techniques (40%). Additionally, it found only 16% articles, developments focused trend research is development wearable (53%) fusion data collected multiple sensors enrich training intelligent algorithms. There a latent need develop more reliable through clinical validation improvement technical characteristics, such as weight/dimensions devices, order positive impacts process improve interactions among patients, teams health professionals, technology.

Language: Английский

Citations

108
Sensors and Actuation Technologies in Exoskeletons: A Review DOI Creative Commons
Monica Tiboni, Alberto Borboni, Fabien Verité

et al.

Sensors, Journal Year: 2022, Volume and Issue: 22(3), P. 884 - 884

Published: Jan. 24, 2022

Exoskeletons are robots that closely interact with humans and increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or haptic devices. In last few decades, research activity on these has grown exponentially, sensors actuation technologies two fundamental themes their development. this review, an in-depth study works related to exoskeletons specifically main aspects is carried out. A preliminary phase investigates temporal distribution scientific publications capture interest studying developing novel ideas, methods solutions exoskeleton design, sensors. The also analyzed respect device purpose, body part which dedicated, operation mode design methods. Subsequently, sensing described by studies literature detail, highlighting trends development spread. results presented a schematic approach, cross analyses among taxonomies proposed emphasize emerging peculiarities.

Language: Английский

Citations

91
Mechatronic Exoskeleton Systems for Supporting the Biomechanics of Shoulder-Elbow-Wrist: An Innovative Review DOI
José Cornejo, Deyby Huamanchahua,

Sofia Huaman-Vizconde

et al.

2022 IEEE International IOT, Electronics and Mechatronics Conference (IEMTRONICS), Journal Year: 2021, Volume and Issue: unknown, P. 1 - 9

Published: April 21, 2021

Disability is defined as a condition of the human body that limits execution task or activity. According to World Health Organization (WHO), 15% world's population suffers from it, recent studies indicate growing prevalence are significant problem and that, consequently, demand for rehabilitation services rising considerably. For this reason, different authors propose use exoskeletons in therapies an alternative solution. Thanks progress kind technology, it possible create robotic systems help people with disabilities recover, totally partially, original movement their affected limbs. This Innovative Review Article presents exhaustive review main features upper-limb such Degrees Freedom (DoF), mechanism type, mode, movements allowed, applications Technology Readiness Level (TRL). Firstly, study provides brief description biomechanics upper limbs body. Next, material, modes (TRL) each these devices analyzed. As result, was observed aluminum PLA most used materials exoskeletons' manufacturing. In addition, noticed perform passive rehabilitation. Besides, identified common assistance limb patients who have suffered stroke. Finally, using TLR scale, determined mechatronic between TRL5 TRL8.

Language: Английский

Citations

43
Fuzzy-Sliding Mode Control for Humanoid Arm Robots Actuated by Pneumatic Artificial Muscles With Unidirectional Inputs, Saturations, and Dead Zones DOI
Dingkun Liang, Ning Sun, Yiming Wu

et al.

IEEE Transactions on Industrial Informatics, Journal Year: 2021, Volume and Issue: 18(5), P. 3011 - 3021

Published: Sept. 10, 2021

Recently, the pneumatic artificial muscle (PAM) that can reproduce natural functionalities has become one of core actuator mechanisms intelligent interactive soft robots. Unfortunately, some inherent defects (e.g., unignorable nonlinearities, hysteresis, low shrinkage frequencies, etc.) have limited application progress humanoid PAM arm Additionally, input constraints saturations, dead zones, unidirectional inputs, etc.), unexpected external disturbances, unidentifiable system parameters, and inevitable unmodeled dynamics are usually complicated, which cannot be easily eliminated through existing adaptive control methods. This article proposes an fuzzy-sliding mode method for robots without any information precise model structures suppress effects complicated unknown functions achieve high performance tracking control, xmlns:xlink="http://www.w3.org/1999/xlink">simultaneously . To best our knowledge, proposed controller is xmlns:xlink="http://www.w3.org/1999/xlink">first considers nonlinear including conditions, Next, all constraints, parameter uncertainties, dynamics, disturbances estimated adaptively by utilizing fuzzy update law. Particularly, a sliding law designed to compensate possible approximation errors, rigorous Lyapunov-based stability analysis provided ensure state errors converge zero within xmlns:xlink="http://www.w3.org/1999/xlink">finite time. Hardware experiments carried out later tovalidate effectiveness robustness method.

Language: Английский

Citations

41
Explicit model based fuzzy control method for lower limb exoskeleton robot DOI
Xinjiang Lu,

Xiran Chen,

Yunxu Bai

et al.

Expert Systems with Applications, Journal Year: 2025, Volume and Issue: unknown, P. 126601 - 126601

Published: Jan. 1, 2025

Language: Английский

Citations

0
Design, Development, and Testing of an Intelligent Wearable Robotic Exoskeleton Prototype for Upper Limb Rehabilitation DOI Creative Commons
Manuel Andrés Vélez-Guerrero, Mauro Callejas-Cuervo, Stefano Mazzoleni

et al.

Sensors, Journal Year: 2021, Volume and Issue: 21(16), P. 5411 - 5411

Published: Aug. 10, 2021

Neuromotor rehabilitation and recovery of upper limb functions are essential to improve the life quality patients who have suffered injuries or pathological sequels, where it is desirable enhance development activities daily living (ADLs). Modern approaches such as robotic-assisted provide decisive factors for effective motor recovery, objective assessment progress patient potential implementation personalized training plans. This paper focuses on design, development, preliminary testing a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, safety algorithms that fully embedded in device. The proposed 1-DoF system allows flexion-extension at elbow joint, chosen materials render compact. Different operation modes supported by hierarchical control strategy, allowing mode, remote leader-follower mode. Laboratory tests validate proper integrated technologies, highlighting low latency reasonable accuracy. experimental result shows device can be suitable use providing support diagnostic processes neuromotor functions, although optimizations rigorous clinical validation required beforehand.

Language: Английский

Citations

28
Mechanism Design and Control of Shoulder Rehabilitation Robots: A Review DOI
Muhammad Faizan Shah, Shahid Hussain, Roland Goecke

et al.

IEEE Transactions on Medical Robotics and Bionics, Journal Year: 2023, Volume and Issue: 5(4), P. 780 - 792

Published: Aug. 30, 2023

Neurological injuries are one of the main reasons for loss functional mobility in humans. Compromised functionalities may include restrictions shoulder's range motion. Robotic devices, used physical therapy shoulder, have different mechanism designs and control strategies. The aim this paper is to provide a detailed review mechanisms shoulder rehabilitation robots as well their Shoulder robot grouped based on actuating systems, namely, cable-driven power-driven mechanisms. actuation systems considered during study electrical actuators, pneumatic series elastic muscle actuators. Experimental evaluation validation previous also discussed citing constraints limitations. Safety aspects existing been discussed. This presents advantages disadvantages previously proposed robots, actuation, strategies concludes by presenting future challenges pathways.

Language: Английский

Citations

10
A Bamboo-Inspired Exoskeleton (BiEXO) Based on Carbon Fiber for Shoulder and Elbow Joints DOI
Ahmad Zahedi, Yansong Wang, Nathan Lau

et al.

IEEE Transactions on Medical Robotics and Bionics, Journal Year: 2023, Volume and Issue: 5(2), P. 375 - 386

Published: April 25, 2023

This paper presents a novel cable-driven exoskeleton (BiEXO) for the upper limb including shoulder and elbow joints. BiEXO is made of carbon fiber that inspired by Bamboo structure. The key components are tubes mimic bamboo tubes. A combined driver developed with two mechanisms (CDMs) power transmission belt (PTB). CDMs used flexion/extension movement utilizing cables to skeletal muscle's function, while PTB system drives link scapula joint abduction/adduction movement. Simulation studies evaluation experiments were performed demonstrate efficacy overall system. To determine strength-to-weight bamboo-inspired links guarantee high buckling strength in face loads imposed from user side structure, finite element analysis (FEA) was performed. results show has more comparison common long tube. kinematic configuration modeled modified Denavit-Hartenberg (D-H) notation. mean absolute error (MAE) 5.9 mm, root-mean-square (RMSE) 6 mm. In addition, verification tracking trajectory Cartesian space wear trials on subject carried out prototype. satisfactory indicate be promising rehabilitation or assistance future.

Language: Английский

Citations

7
Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies DOI Creative Commons
Muhammad Shoaib, Ehsan Asadi, Joono Cheong

et al.

IEEE Access, Journal Year: 2021, Volume and Issue: 9, P. 110396 - 110420

Published: Jan. 1, 2021

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven robots (CDRRs) are relatively newer their control strategies have evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space configurability. In this paper, we categorize review the three main groups concerning applications for upper limb, lower waist rehabilitation. For each group, target movements identified, designs analyzed terms actuators, controllers interactions with humans. Particular given verified clinical performance actual settings. A part paper is dedicated comparing techniques under five categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) Adaptive controllers. We carefully contrasted advantages disadvantages those methods aim assisting design future CDRRs.

Language: Английский

Citations

17