Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism

Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine in...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Bingshan Hu, Fuchao Zhang, Hongrun Lu, Huaiwu Zou, Jiantao Yang, Hongliu Yu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	assist-as-needed control exoskeleton flexible musculoskeletal model series elastic actuator Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Acceso en línea:	https://doaj.org/article/f5f34afc01a441cfb424131e6d816994
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:f5f34afc01a441cfb424131e6d816994
record_format	dspace
spelling	oai:doaj.org-article:f5f34afc01a441cfb424131e6d8169942021-11-25T15:56:52ZDesign and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism10.3390/act101102902076-0825https://doaj.org/article/f5f34afc01a441cfb424131e6d8169942021-10-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/290https://doaj.org/toc/2076-0825Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, lower weight and cost, and have great application potential. Applying assist force according to the patient’s needs can give full play to the wearer’s remaining muscle strength, which is more conducive to muscle strength training and motor function recovery. In this paper, a design scheme of an elbow exoskeleton driven by flexible antagonistic cable actuators is proposed. The cable actuator is driven by a nonlinear series elastic mechanism, in which the elastic elements simulate the passive elastic properties of human skeletal muscle. Based on an improved elbow musculoskeletal model, the assist torque of exoskeleton is predicted. An assist-as-needed (AAN) control algorithm is proposed for the exoskeleton and experiments are carried out. The experimental results on the experimental platform show that the root mean square error between the predicted assist torque and the actual assist torque is 0.00226 Nm. The wearing experimental results also show that the AAN control method designed in this paper can reduce the activation of biceps brachii effectively when the exoskeleton assist level increases.Bingshan HuFuchao ZhangHongrun LuHuaiwu ZouJiantao YangHongliu YuMDPI AGarticleassist-as-needed controlexoskeletonflexiblemusculoskeletal modelseries elastic actuatorMaterials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 290, p 290 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	assist-as-needed control exoskeleton flexible musculoskeletal model series elastic actuator Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	assist-as-needed control exoskeleton flexible musculoskeletal model series elastic actuator Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Bingshan Hu Fuchao Zhang Hongrun Lu Huaiwu Zou Jiantao Yang Hongliu Yu Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
description	Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, lower weight and cost, and have great application potential. Applying assist force according to the patient’s needs can give full play to the wearer’s remaining muscle strength, which is more conducive to muscle strength training and motor function recovery. In this paper, a design scheme of an elbow exoskeleton driven by flexible antagonistic cable actuators is proposed. The cable actuator is driven by a nonlinear series elastic mechanism, in which the elastic elements simulate the passive elastic properties of human skeletal muscle. Based on an improved elbow musculoskeletal model, the assist torque of exoskeleton is predicted. An assist-as-needed (AAN) control algorithm is proposed for the exoskeleton and experiments are carried out. The experimental results on the experimental platform show that the root mean square error between the predicted assist torque and the actual assist torque is 0.00226 Nm. The wearing experimental results also show that the AAN control method designed in this paper can reduce the activation of biceps brachii effectively when the exoskeleton assist level increases.
format	article
author	Bingshan Hu Fuchao Zhang Hongrun Lu Huaiwu Zou Jiantao Yang Hongliu Yu
author_facet	Bingshan Hu Fuchao Zhang Hongrun Lu Huaiwu Zou Jiantao Yang Hongliu Yu
author_sort	Bingshan Hu
title	Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
title_short	Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
title_full	Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
title_fullStr	Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
title_full_unstemmed	Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism
title_sort	design and assist-as-needed control of flexible elbow exoskeleton actuated by nonlinear series elastic cable driven mechanism
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f5f34afc01a441cfb424131e6d816994
work_keys_str_mv	AT bingshanhu designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism AT fuchaozhang designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism AT hongrunlu designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism AT huaiwuzou designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism AT jiantaoyang designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism AT hongliuyu designandassistasneededcontrolofflexibleelbowexoskeletonactuatedbynonlinearserieselasticcabledrivenmechanism
_version_	1718413415651737600

Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism

Ejemplares similares