Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charg...Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charge(RIC)mode facilitates the ER driven by SEA to provide the required assistance and support for the subject.展开更多
With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people&#...With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people's sight,and the lower limb exoskeleton robot withrehabilitation training is also favored by more and more people.In this paper,the structural designand analysis of the lower limb exoskeleton robot are carried out in view of the patients'expectation ofnormal walking.First,gait analysis and structural design of lower limb exoskeleton robot.Based onthe analysis of the walking gait of normal people,the freedom of the three key joints of the lower limbexoskeleton robot hip joint,knee joint and ankle joint is determined.at the same time,according tothe structuralcharacteristics of each joint,the three key joints are modeled respectively,and theoverall model assembly of the lower limb exoskeleton robot is completed.Secondly,the kinematicsanalysis of the lower limb exoskeleton robot was carried out to obtain the relationship between thelinear displacement,linear speed and acceleration of each joint,so as to ensure the coordination ofthe model with the human lower limb movement.Thirdly,the static analysis of typical gait of hipjoint,knee joint and ankle joint is carried out to verify the safety of the design model under thepremise of ensuring the structural strength requirements.Finally,the parts of the model were 3Dprinted,and the rationality of the design was further verified in the process of assembling the model.展开更多
Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive termin...Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive terminal sliding mode for lower limb rehabilitation exoskeleton robots.The central pattern generator network plans a reference gait trajectory for the affected leg,synchronized with the movement of the healthy leg.The proposed adaptive time-delay control scheme possesses a model-independent property due to the mechanism of time-delay estimation,with adaptive control gains that enhance the resilience against system perturbations and a recursive terminal sliding mode control component to achieve a fast convergence rate.According to the Lyapunov stability criterion,it is proved that the gait trajectory-tracking error is uniformly ultimately bounded.Experiments are conducted on a lower limb exoskeleton experimental platform,and the experimental results demonstrate the effectiveness and superiority of the proposed strategies.展开更多
A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot....A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model isbuilt, and its control system based on PWM is developed. The emulations in Matlab and the results ofexperiments prove that this methodology is effective.展开更多
Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additio...Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously unbearable.At the same time,employing reasonable structure design and passive energy storage can also assist in specific actions.First,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in detail.Then,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and compared.Finally,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.展开更多
This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accuratel...This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.展开更多
Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplin...Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.展开更多
Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots,...Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots, once only used on the factory floor, are now becoming a part of human bodies, which provides the unprecedented level of muscle power boost and the increase of running speed. If used very carefully, the exoskeleton robots can be also used for patients’ rehabilitation. The exoskeleton robots have many potential application areas;?hence most advanced countries are currently developing various types of exoskeleton robots. Those robots can be classified into two major categories, namely the rigid type and the soft type. Each type has own advantages and disadvantages, while the carrying load capacity and the actuation speed can be quite different. There are also many technical difficulties in order to use the exoskeleton robots in the field. The aim of this study is, therefore, to introduce the trends of exoskeleton robot development in advanced countries, while providing the analysis on the technical merits and downside of robot types. The comparison chart also indicates the major technical directions, in which the future technology will be headed for, such as the improved robot response characteristics by employing advanced sensors and artificial intelligence. The robots are becoming smarter, lighter, and more powerful. It is foreseeable that the wearable robots can be a part of human life in the very near future.展开更多
Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and the...Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and there are some promising candidates emerging. One such category of robots is exoskeleton robots and this paper provides an in-depth assessment of their suitability in assisting human operators in undertaking manual operations typically found in the construction industry. This work aims to objectively assess the advantages and disadvantages of these two suits and provide recommendations for further improvements of similar system designs. The paper focuses on the passive exoskeleton robotic suits which are commercially available. Three types of activities are designed and a mechatronic methodology has been designed and implemented to capture visual data in order to assess these systems in comparison with normal human operations. The study suggests that these passive suits do reduce the effort required by human operators to undertake the same construction tasks as evidenced by the results from one focused study, though a number of improvements could be made to improve their performance for wider adoption.展开更多
The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore ...The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore processors cannot boost the performance or reduce the execution time as the programs are sequentially structured.The neural network is a great tool to convert a sequentially structured program to an equivalent parallel architecture program.In this study,a radial basis function(RBF)neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskel-eton robot.A realistic friction model is used for modelling joint friction.High trajectory tracking accuracies have been obtained.Evidence of computational efficiency has been observed.The stability analysis of the developed controller is presented.Analysis of variance is used to assess the controller's resilience to parameter variation.To show the effectiveness of the developed controller,a comparative study was performe between the developed RBF network‐based controller and Sliding Mode Controller,Computed Tor-que Controller,Adaptive controller,Linear Quadratic Regulator and Model Reference Computed Torque Controller.展开更多
Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs a...Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.展开更多
Robotic exoskeletons have emerged as rehabilitation tool that may ameliorate several of the existing healthrelated consequences after spinal cord injury(SCI).However,evidence to support its clinical application is sti...Robotic exoskeletons have emerged as rehabilitation tool that may ameliorate several of the existing healthrelated consequences after spinal cord injury(SCI).However,evidence to support its clinical application is still lacking considering their prohibitive cost.The current mini-review is written to highlight the main limitations and potential benefits of using exoskeletons in the rehabilitation of persons with SCI.We have recognized two main areas relevant to the design of exoskeletons and to their applications on major health consequences after SCI.The design prospective refers to safety concerns,fitting time and speed of exoskeletons.The health prospective refers to factors similar to body weight,physical activity,pressure injuries and bone health.Clinical trials are currently underway to address some of these limitations and to maximize the benefits in rehabilitation settings.Future directions highlight the need to use exoskeletons in conjunction with other existing and emerging technologies similar to functional electrical stimulation and brain-computer interface to address major limitations.Exoskeletons have the potential to revolutionize rehabilitation following SCI;however,it is still premature to make solid recommendations about their clinical use after SCI.展开更多
In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integr...In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.展开更多
基金supported in part by the National Natural Science Foundation of China(62173048,62373065,61873304,62106023)the Key Science and Technology Projects of Jilin Province,China(20230204081YY)the Research and Innovation Team of Anhui Province(2024AH010023)。
文摘Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charge(RIC)mode facilitates the ER driven by SEA to provide the required assistance and support for the subject.
基金College Student Innovation andEntrepreneurship Project(Grant No.:S202414435026)ingkou Institute of Technology campus level research project——Development of food additive supercritical extraction equipment and fluid transmission systemresearch(Grant No.HX202427).
文摘With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people's sight,and the lower limb exoskeleton robot withrehabilitation training is also favored by more and more people.In this paper,the structural designand analysis of the lower limb exoskeleton robot are carried out in view of the patients'expectation ofnormal walking.First,gait analysis and structural design of lower limb exoskeleton robot.Based onthe analysis of the walking gait of normal people,the freedom of the three key joints of the lower limbexoskeleton robot hip joint,knee joint and ankle joint is determined.at the same time,according tothe structuralcharacteristics of each joint,the three key joints are modeled respectively,and theoverall model assembly of the lower limb exoskeleton robot is completed.Secondly,the kinematicsanalysis of the lower limb exoskeleton robot was carried out to obtain the relationship between thelinear displacement,linear speed and acceleration of each joint,so as to ensure the coordination ofthe model with the human lower limb movement.Thirdly,the static analysis of typical gait of hipjoint,knee joint and ankle joint is carried out to verify the safety of the design model under thepremise of ensuring the structural strength requirements.Finally,the parts of the model were 3Dprinted,and the rationality of the design was further verified in the process of assembling the model.
基金supported by the National Natural Science Foundation of China(62473337,62003305)the Key Research and Development Program of Zhejiang Province(2024C03040,2022C03029)the funding of Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province(2023R01006).
文摘Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive terminal sliding mode for lower limb rehabilitation exoskeleton robots.The central pattern generator network plans a reference gait trajectory for the affected leg,synchronized with the movement of the healthy leg.The proposed adaptive time-delay control scheme possesses a model-independent property due to the mechanism of time-delay estimation,with adaptive control gains that enhance the resilience against system perturbations and a recursive terminal sliding mode control component to achieve a fast convergence rate.According to the Lyapunov stability criterion,it is proved that the gait trajectory-tracking error is uniformly ultimately bounded.Experiments are conducted on a lower limb exoskeleton experimental platform,and the experimental results demonstrate the effectiveness and superiority of the proposed strategies.
基金This project is supported by National Natural Science Foundation of China (No.60205006) and International Cooperation Foundation (Germany).
文摘A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model isbuilt, and its control system based on PWM is developed. The emulations in Matlab and the results ofexperiments prove that this methodology is effective.
基金the National Natural Science Foundation of China(No.52075264)。
文摘Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously unbearable.At the same time,employing reasonable structure design and passive energy storage can also assist in specific actions.First,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in detail.Then,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and compared.Finally,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.
文摘This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.
基金Supported by National Key R&D Program of China(Grant No.2016YFE0105000)National Natural Science Foundation of China(Grant No.91848104)
文摘Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.
文摘Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots, once only used on the factory floor, are now becoming a part of human bodies, which provides the unprecedented level of muscle power boost and the increase of running speed. If used very carefully, the exoskeleton robots can be also used for patients’ rehabilitation. The exoskeleton robots have many potential application areas;?hence most advanced countries are currently developing various types of exoskeleton robots. Those robots can be classified into two major categories, namely the rigid type and the soft type. Each type has own advantages and disadvantages, while the carrying load capacity and the actuation speed can be quite different. There are also many technical difficulties in order to use the exoskeleton robots in the field. The aim of this study is, therefore, to introduce the trends of exoskeleton robot development in advanced countries, while providing the analysis on the technical merits and downside of robot types. The comparison chart also indicates the major technical directions, in which the future technology will be headed for, such as the improved robot response characteristics by employing advanced sensors and artificial intelligence. The robots are becoming smarter, lighter, and more powerful. It is foreseeable that the wearable robots can be a part of human life in the very near future.
文摘Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and there are some promising candidates emerging. One such category of robots is exoskeleton robots and this paper provides an in-depth assessment of their suitability in assisting human operators in undertaking manual operations typically found in the construction industry. This work aims to objectively assess the advantages and disadvantages of these two suits and provide recommendations for further improvements of similar system designs. The paper focuses on the passive exoskeleton robotic suits which are commercially available. Three types of activities are designed and a mechatronic methodology has been designed and implemented to capture visual data in order to assess these systems in comparison with normal human operations. The study suggests that these passive suits do reduce the effort required by human operators to undertake the same construction tasks as evidenced by the results from one focused study, though a number of improvements could be made to improve their performance for wider adoption.
文摘The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore processors cannot boost the performance or reduce the execution time as the programs are sequentially structured.The neural network is a great tool to convert a sequentially structured program to an equivalent parallel architecture program.In this study,a radial basis function(RBF)neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskel-eton robot.A realistic friction model is used for modelling joint friction.High trajectory tracking accuracies have been obtained.Evidence of computational efficiency has been observed.The stability analysis of the developed controller is presented.Analysis of variance is used to assess the controller's resilience to parameter variation.To show the effectiveness of the developed controller,a comparative study was performe between the developed RBF network‐based controller and Sliding Mode Controller,Computed Tor-que Controller,Adaptive controller,Linear Quadratic Regulator and Model Reference Computed Torque Controller.
基金the National Basic Research Program of China(Grant No.2016YFC0802700)the National Natural Science Foundation of China(Grant No.50975010,Grant No.51075017).
文摘Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.
文摘Robotic exoskeletons have emerged as rehabilitation tool that may ameliorate several of the existing healthrelated consequences after spinal cord injury(SCI).However,evidence to support its clinical application is still lacking considering their prohibitive cost.The current mini-review is written to highlight the main limitations and potential benefits of using exoskeletons in the rehabilitation of persons with SCI.We have recognized two main areas relevant to the design of exoskeletons and to their applications on major health consequences after SCI.The design prospective refers to safety concerns,fitting time and speed of exoskeletons.The health prospective refers to factors similar to body weight,physical activity,pressure injuries and bone health.Clinical trials are currently underway to address some of these limitations and to maximize the benefits in rehabilitation settings.Future directions highlight the need to use exoskeletons in conjunction with other existing and emerging technologies similar to functional electrical stimulation and brain-computer interface to address major limitations.Exoskeletons have the potential to revolutionize rehabilitation following SCI;however,it is still premature to make solid recommendations about their clinical use after SCI.
基金supported by the National Natural Science Foundation of China(62473337,62003305)the Key Research and Development Program of Zhejiang Province(2024C03040,2022C03029)the Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province(2023R01006)。
文摘In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.
