Research on Control Strategy Technology of Upper Limb Exoskeleton Robots: Review
Machines,
Год журнала:
2025,
Номер
13(3), С. 207 - 207
Опубликована: Март 3, 2025
Upper
limb
exoskeleton
robots,
as
highly
integrated
wearable
devices
with
the
human
body
structure,
hold
significant
potential
in
rehabilitation
medicine,
performance
enhancement,
and
occupational
safety
health.
The
rapid
advancement
of
high-precision,
low-noise
acquisition
intelligent
motion
intention
recognition
algorithms
has
led
to
a
growing
demand
for
more
rational
reliable
control
strategies.
Consequently,
systems
strategies
robots
are
becoming
increasingly
prominent.
This
paper
innovatively
takes
hierarchical
system
entry
point
comprehensively
compares
current
technologies
upper
analyzing
their
applicable
scenarios
limitations.
research
still
faces
challenges
such
insufficient
real-time
limited
individualized
adaptation
capabilities.
It
is
recognized
that
no
single
traditional
algorithm
can
fully
meet
interaction
requirements
between
exoskeletons
body.
integration
many
advanced
artificial
intelligence
into
remains
restricted.
Meanwhile,
quality
closely
related
perception
decision-making
system.
Therefore,
combination
multi-source
information
fusion
cooperative
methods
expected
enhance
efficient
human–robot
personalized
rehabilitation.
Transfer
learning
edge
computing
enable
lightweight
deployment,
ultimately
improving
work
efficiency
life
end-users.
Язык: Английский
Recursive PID-NT Estimation-Based Second-Order SMC Strategy for Knee Exoskeleton Robots: A Focus on Uncertainty Mitigation
Electronics,
Год журнала:
2025,
Номер
14(7), С. 1455 - 1455
Опубликована: Апрель 3, 2025
This
study
introduces
a
modified
second-order
super-twisting
sliding
mode
control
algorithm
designed
to
enhance
the
precision
and
robustness
of
knee
exoskeleton
robots
by
incorporating
advanced
uncertainty
mitigation
techniques.
The
key
contribution
this
research
is
development
an
efficient
estimation
mechanism
capable
accurately
identifying
model
parameter
uncertainties
patients’
unwanted
action
torques
disturbance
within
finite
time
horizon,
thereby
improving
overall
system
performance.
proposed
framework
ensures
smooth
precise
signal
dynamics
while
effectively
suppressing
chattering
effects,
common
drawback
in
conventional
methodologies.
theoretical
foundation
rigorously
established
through
formulation
PID
non-singular
terminal
variable,
which
stability
phase
comprehensive
Lyapunov-based
analysis
assuming
that
upper
bound
its
derivative
are
known
reaching
phase,
collectively
guarantee
system’s
reliability.
Through
simulations,
efficacy
evaluated
ability
track
diverse
desired
angles,
demonstrate
against
disturbances,
such
as
those
caused
patient’s
foot
reaction,
handle
20%
parameters.
Additionally,
effectiveness
assessed
three
individuals
with
varying
Notably,
controller
gains
remain
consistent
across
all
scenarios.
constitutes
significant
advancement
domain
control,
offering
more
reliable
methodology
for
addressing
uncertainties.
Язык: Английский
Methodology and Challenges of Implementing Advanced Technological Solutions in Small and Medium Shipyards: The Case Study of the Mari4_YARD Project
Electronics,
Год журнала:
2025,
Номер
14(8), С. 1597 - 1597
Опубликована: Апрель 15, 2025
Small
to
medium-sized
shipyards
play
a
crucial
role
in
the
European
naval
industry.
However,
globalization
of
technology
has
increased
competition,
posing
significant
challenges
shipyards,
particularly
domestic
markets
for
short
sea,
work,
and
inland
vessels.
Many
shipyard
operations
still
rely
on
manual,
labor-intensive
tasks
performed
by
highly
skilled
operators.
In
response,
adoption
new
tools
is
essential
enhance
efficiency
competitiveness.
This
paper
presents
methodology
developing
human-centric
portfolio
advanced
technologies
tailored
environments,
covering
processes
such
as
shipbuilding,
retrofitting,
outfitting,
maintenance.
The
proposed
technological
solutions,
which
have
achieved
high
readiness
levels,
include
3D
modeling
digitalization,
robotics,
augmented
virtual
reality,
occupational
exoskeletons.
Key
findings
from
real-scale
demonstrations
are
discussed,
along
with
major
development
implementation
challenges.
Finally,
best
practices
recommendations
provided
support
both
developers
seeking
fully
tested
end
users
aiming
seamless
adoption.
Язык: Английский
Animals as Architects: Building the Future of Technology-Supported Rehabilitation with Biomimetic Principles
Biomimetics,
Год журнала:
2024,
Номер
9(12), С. 723 - 723
Опубликована: Ноя. 22, 2024
Rehabilitation
science
has
evolved
significantly
with
the
integration
of
technology-supported
interventions,
offering
objective
assessments,
personalized
programs,
and
real-time
feedback
for
patients.
Despite
these
advances,
challenges
remain
in
fully
addressing
complexities
human
recovery
through
rehabilitation
process.
Over
last
few
years,
there
been
a
growing
interest
application
biomimetics
to
inspire
technological
innovation.
This
review
explores
biomimetic
principles
technologies,
focusing
on
use
animal
models
help
design
assistive
devices
such
as
robotic
exoskeletons,
prosthetics,
wearable
sensors.
Animal
locomotion
studies
have,
example,
inspired
energy-efficient
exoskeletons
that
mimic
natural
gait,
while
insights
from
neural
plasticity
research
species
like
zebrafish
axolotls
are
advancing
regenerative
medicine
techniques.
Sensory
systems
animals,
lateral
line
fish,
have
also
led
development
sensors
provide
motor
learning.
By
integrating
approaches,
technologies
can
better
adapt
patient
needs,
ultimately
improving
functional
outcomes.
As
field
related
translating
applications,
ethical
considerations,
technical
barriers
must
be
addressed
unlock
full
potential
rehabilitation.
Язык: Английский