Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control str...

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Autores principales:	Manuel Andrés Vélez-Guerrero, Mauro Callejas-Cuervo, Stefano Mazzoleni
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	robotics servomotor joint actuator exoskeleton mechatronic systems Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/667dc8c9b9e7436ba2f744b318c606a1
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id	oai:doaj.org-article:667dc8c9b9e7436ba2f744b318c606a1
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spelling	oai:doaj.org-article:667dc8c9b9e7436ba2f744b318c606a12021-11-25T18:58:46ZIntegration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton10.3390/s212277201424-8220https://doaj.org/article/667dc8c9b9e7436ba2f744b318c606a12021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7720https://doaj.org/toc/1424-8220Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.Manuel Andrés Vélez-GuerreroMauro Callejas-CuervoStefano MazzoleniMDPI AGarticleroboticsservomotorjointactuatorexoskeletonmechatronic systemsChemical technologyTP1-1185ENSensors, Vol 21, Iss 7720, p 7720 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotics servomotor joint actuator exoskeleton mechatronic systems Chemical technology TP1-1185
spellingShingle	robotics servomotor joint actuator exoskeleton mechatronic systems Chemical technology TP1-1185 Manuel Andrés Vélez-Guerrero Mauro Callejas-Cuervo Stefano Mazzoleni Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
description	Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.
format	article
author	Manuel Andrés Vélez-Guerrero Mauro Callejas-Cuervo Stefano Mazzoleni
author_facet	Manuel Andrés Vélez-Guerrero Mauro Callejas-Cuervo Stefano Mazzoleni
author_sort	Manuel Andrés Vélez-Guerrero
title	Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
title_short	Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
title_full	Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
title_fullStr	Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
title_full_unstemmed	Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton
title_sort	integration and testing of a high-torque servo-driven joint and its electronic controller with application in a prototype upper limb exoskeleton
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/667dc8c9b9e7436ba2f744b318c606a1
work_keys_str_mv	AT manuelandresvelezguerrero integrationandtestingofahightorqueservodrivenjointanditselectroniccontrollerwithapplicationinaprototypeupperlimbexoskeleton AT maurocallejascuervo integrationandtestingofahightorqueservodrivenjointanditselectroniccontrollerwithapplicationinaprototypeupperlimbexoskeleton AT stefanomazzoleni integrationandtestingofahightorqueservodrivenjointanditselectroniccontrollerwithapplicationinaprototypeupperlimbexoskeleton
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Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

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