For the teleoperation of dual-arm robots with various tasks, the existence of a controller with a high degree of freedom is indispensable. Especially when precise work is required, additional information such as force feedback is very helpful for the operator. In transmitting such force information, a control device of exoskeleton-type with many points of contact with the human body can be one of the solutions. This paper proposes an optimal design method for the 7 degrees of freedom (DOF) exoskeleton systems. The proposed method optimizes the kinematic parameters by using kinematic performance indices related to the dexterity of the human and exoskeleton system. The manipulability ellipsoid is a representative index that can confirm the dexterity of the robot. In this study, we derived the objective function considering the human body model and then optimized it using a genetic algorithm. Unlike other HRI (Human-Robot Interaction) systems, exoskeleton robots share the end-effector as well as the base of the robot with the wearer. Therefore, it is hypothesized that the proposed performance index will be highly suitable for exoskeleton systems.
Citations
Citations to this article as recorded by
Development of a Realistic Simulator for Driving Education of a Disaster-Responding Special Purpose Machinery Hyo-Gon Kim, Jung-Woo Park, Hyo-Jun Lee, Sung-Ho Park, Young-Ho Choi, Byeong-Kyu Lee, Jin-Ho Suh Journal of Power System Engineering.2021; 25(2): 86. CrossRef
In the case of paralysis caused by brain diseases and accidents, proper rehabilitation and supplementary systems for daily life are essential. In this study, we designed a system that can enable daily life by supporting the hand of a patient whose function has been lost to paralysis. The hand exoskeleton robot proposed in this study can be transported for the purpose of ADL (activities of daily living). It was designed to focus on the most important assistant for the thumb and index finger. The hand exoskeleton robot proposed in this study enables grasp and pinch motor skills during the human hand operation through the specific mechanism for the segment movement of the human finger simultaneously. Finally, the finger movement trace of the wearer through the vision system is measured, respectively.
Citations
Citations to this article as recorded by
Design for Additive Manufacturing of Agricultural Strength Assisting Exoskeleton Suit Kwanhyung Park, Haeyong Yun, Yongjun Cho, Hyunggil Hong, Sunho Jang, Minsu Kang, Jaehyo Kim, Hochan Kim Journal of the Korean Society of Manufacturing Process Engineers.2022; 21(12): 69. CrossRef
Actuators for exoskeleton robots comprise various types such as electric, hydraulic, and pneumatic and it is necessary to apply the correct actuator according to the purpose. Most exoskeleton robots mainly use electric actuators, and some special-purpose robots, such as for heavy-load transport requiring large force, use hydraulic actuators. In this paper, friction of the actuation module consisting of a harmonic drive and a brushless DC motor is measured through experiments. And the friction characteristics of the actuation module are analyzed. The harmonic drive transmission system has various advantages, but it also has hysteresis and nonlinear friction characteristics. The friction compensation control of the actuation module enables precise control of the exoskeleton robot, and improves the robot’s performance. Appropriate friction model selection and design affects friction compensation performance. In this study, static and dynamic friction models are designed and analyzed based on the friction data of the actuation module.
Citations
Citations to this article as recorded by
Method for Radial Stiffness Measurement of Strain Wave Gear Flexspline Sangwoong Lee, Daegwon Koh, Jong-Geol Kim, Murim Kim Journal of the Korean Society for Precision Engineering.2024; 41(12): 923. CrossRef
A Recurrent Neural Network for 3D Joint Angle Estimation based on Six-axis IMUs but without a Magnetometer Chang June Lee, Woo Jae Kim, Jung Keun Lee Journal of the Korean Society for Precision Engineering.2023; 40(4): 301. CrossRef
Friction Compensation of Electric-Motor Driven Revolute Joint with Harmonic Gear Seong-Hee Cho, Young-Seog Kim, Jung-Yup Kim Journal of the Korean Society of Manufacturing Technology Engineers.2020; 29(3): 259. CrossRef
Patients with complete paralysis that only walk with the assistance of exoskeleton robots because they lost their ability to walk. However, robots do not allow the exoskeleton robot to grasp the current state before walking and change the walking pattern. A "Stability Circle Region" was proposed to determine the current state of the exoskeleton robot. The Stability Circle is an area that can determine the possibility of a fall situation before the next walk using the link parameters of the robot and the current center of gravity of the patients. This study verified the validity of "stability circle" by simulating the change in the center of mass. Simulation results can be used to determine the stability of walking depending on whether the position of the center of mass before the walking is included in the circle area.
Citations
Citations to this article as recorded by
Design of Assistive Wearable System for Walking Seong-Dae Choi, Sang-Hun Lee Journal of the Korean Society of Manufacturing Process Engineers.2019; 18(12): 111. CrossRef
Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user"s intention. The user"s walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user"s quantitative intention for gait, and suggests for a control strategy to assist user"s movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.
Citations
Citations to this article as recorded by
Measurement, Evaluation, and Control of Active Intelligent Gait Training Systems—Analysis of the Current State of the Art Yi Han, Chenhao Liu, Bin Zhang, Ning Zhang, Shuoyu Wang, Meimei Han, João P. Ferreira, Tao Liu, Xiufeng Zhang Electronics.2022; 11(10): 1633. CrossRef
First
Prev
