Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot

The cable-driven exoskeletons have the advantages of low inertia and simple structure, and they are widely applied for human augmentation and rehabilitation. However, they have limited workspace and tension efficiency because of the unidirectional nature of the cables. The limited performance affect...

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Autores principales:	Ke Shi, Aiguo Song, Huijun Li
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Cable-driven robot rehabilitation robot human–robot interaction mechanism design distributed active semi-active systems Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/86051157c8b0496bb5871e51e2fa986f
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id	oai:doaj.org-article:86051157c8b0496bb5871e51e2fa986f
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spelling	oai:doaj.org-article:86051157c8b0496bb5871e51e2fa986f2021-11-19T00:06:32ZOptimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot2169-353610.1109/ACCESS.2021.3077365https://doaj.org/article/86051157c8b0496bb5871e51e2fa986f2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9422755/https://doaj.org/toc/2169-3536The cable-driven exoskeletons have the advantages of low inertia and simple structure, and they are widely applied for human augmentation and rehabilitation. However, they have limited workspace and tension efficiency because of the unidirectional nature of the cables. The limited performance affects the human-robot interaction and leads to potential danger. The workspace and tension efficiency can be optimized by conventional methods, which are adjusting the cable attachment points and increasing the actuators. But the workspace still cannot cover the human joint space of activities of daily living, and the efficiency is also not high. This paper analyzed the specific application for shoulder and elbow joints rehabilitation and proposed a dynamic adaptive structure. This design can increase the workspace and improve tension efficiency greatly. The dynamic compensation control strategy is designed for the optimized system. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the distributed active semi-active system composed of the geared DC motor and magnetorheological clutches, which has low output inertia. The related experiments are carried out based on several healthy subjects. The results verified that the exoskeleton with the dynamic adaptive structure has a large workspace covering the activities of daily living joint space, high tension efficiency, and high force bandwidth, which is beneficial for the safety and comfort of human-robot interaction during rehabilitation training.Ke ShiAiguo SongHuijun LiIEEEarticleCable-driven robotrehabilitation robothuman–robot interactionmechanism designdistributed active semi-active systemsElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 68197-68207 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Cable-driven robot rehabilitation robot human–robot interaction mechanism design distributed active semi-active systems Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Cable-driven robot rehabilitation robot human–robot interaction mechanism design distributed active semi-active systems Electrical engineering. Electronics. Nuclear engineering TK1-9971 Ke Shi Aiguo Song Huijun Li Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
description	The cable-driven exoskeletons have the advantages of low inertia and simple structure, and they are widely applied for human augmentation and rehabilitation. However, they have limited workspace and tension efficiency because of the unidirectional nature of the cables. The limited performance affects the human-robot interaction and leads to potential danger. The workspace and tension efficiency can be optimized by conventional methods, which are adjusting the cable attachment points and increasing the actuators. But the workspace still cannot cover the human joint space of activities of daily living, and the efficiency is also not high. This paper analyzed the specific application for shoulder and elbow joints rehabilitation and proposed a dynamic adaptive structure. This design can increase the workspace and improve tension efficiency greatly. The dynamic compensation control strategy is designed for the optimized system. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the distributed active semi-active system composed of the geared DC motor and magnetorheological clutches, which has low output inertia. The related experiments are carried out based on several healthy subjects. The results verified that the exoskeleton with the dynamic adaptive structure has a large workspace covering the activities of daily living joint space, high tension efficiency, and high force bandwidth, which is beneficial for the safety and comfort of human-robot interaction during rehabilitation training.
format	article
author	Ke Shi Aiguo Song Huijun Li
author_facet	Ke Shi Aiguo Song Huijun Li
author_sort	Ke Shi
title	Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
title_short	Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
title_full	Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
title_fullStr	Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
title_full_unstemmed	Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot
title_sort	optimized design for cable-driven shoulder-elbow exoskeleton robot
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/86051157c8b0496bb5871e51e2fa986f
work_keys_str_mv	AT keshi optimizeddesignforcabledrivenshoulderelbowexoskeletonrobot AT aiguosong optimizeddesignforcabledrivenshoulderelbowexoskeletonrobot AT huijunli optimizeddesignforcabledrivenshoulderelbowexoskeletonrobot
_version_	1718420621437698048

Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot

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