Estimation of Design Parameters for the Development of Exoskeletons Based on Dynamic and Structural Analysis
(*) Corresponding author
This paper presents the results obtained for the estimation of design parameters for a set of structures used in the manufacture of lower limb exoskeletons, based on its dynamic analysis and on the analysis of materials used in medicine and bioengineering. To develop the work, the models of a serial mechanism, a parallelogram mechanism with 4 bars and a mechanism with gravitational compensation by springs and bars are estimated and tested with different metallic and polymeric materials when they perform a trajectory of a pre-established gaitprofile. The results estimated that the maximum torque generated in the mechanism’s joints is smaller in structures made with polymers than in structures with metallic structures. In addition, from the dynamic perspective of the structures, the components of the torques generated in them were estimated, showing the advantages obtained when reducing them. These results identify the relationship between materials and design for the manufacture of new lower limb exoskeletons, comparing their characteristics for reducing the efforts that must be made by the engines and for minimizing the complexity of the control strategies.
Copyright © 2018 Praise Worthy Prize - All rights reserved.
M. R. Tucker, J. Olivier, A. Pagel, H. Bleuler, M. Bouri, and O. Lambercy, Control strategies for active lower extremity prosthetics and orthotics: a review, Journal of Neuro Engineering and Rehabilitation. Vol. 12, no. 1, pp. 1–29, 2015.
M. V de Araujo, P. J. Alsina, N. B. Melo, and V. C. C. Roza, Powered Orthosis Ortholeg: Design and Development, IEEE Latin America Transactions. Vol. 13, no. 1, pp. 90–95, 2015.
R. Jiménez-Fabián and O. Verlinden, Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons, Medical Engineering & Physics. Vol. 34, no. 4, pp. 397–408, May 2012.
B. Chen, H. Ma, L.-Y. Qin, F. Gao, K.-M. Chan, S.-W. Law, L. Qin, and W.-H. Liao, Recent developments and challenges of lower extremity exoskeletons, Journal of Orthopaedic Translation. Vol. 5, pp. 26–37, Apr. 2016.
T. Yan, M. Cempini, C. M. Oddo, and N. Vitiello, Review of assistive strategies in powered lower-limb orthoses and exoskeletons, Robotics and Autonomous Systems. Vol. 64, pp. 120–136, 2015.
Y. Sankai, HAL: Hybrid Assistive Limb Based on Cybernics, Robotics Research: The 13th International Symposium ISRR, 2010, pp. 25–34.
G. Zeilig, H. Weingarden, M. Zwecker, I. Dudkiewicz, A. Bloch, and A. Esquenazi, Safety and tolerance of the ReWalk TM exoskeleton suit for ambulation by people with complete spinal cord injury: A pilot study, The Journal of Spinal Cord Medicine. Vol. 35, no. 2, pp. 101–96, 2012.
S. A. Kolakowsky-Hayner, Safety and Feasibility of using the EksoTM Bionic Exoskeleton to Aid Ambulation after Spinal Cord Injury, The Spinel Journal. Vol. 2013, no. 2, pp. S4-3, 2013.
S. Jezernik, G. Colombo, T. Keller, H. Frueh, and M. Morari, Robotic Orthosis Lokomat: A Rehabilitation and Research Tool,Neuromodulation: Technology at the Neural Interface. Vol. 6, no. 2, pp. 108–115, Apr. 2003.
A. B. Zoss, H. Kazerooni, and A. Chu, Biomechanical Design of the Berkeley Lower Extremity Exoskeletong (BLEEX), IEEE/ASME Trans. Mechatronics. Vol. 11, no. 2, pp. 128–138, 2006.
H. Kazerooni, The Berkeley Lower Extremity Exoskeleton, in Field and Service Robotics, (Springer Berlin Heidelberg, 2006, pp. 9–15).
R. Riener, L. Lunenburger, S. Jezernik, M. Anderschitz, G. Colombo, and V. Dietz, Patient-Cooperative Strategies for Robot-Aided Treadmill Training: First Experimental Results, IEEE Transactions on Neural Systems and Rehabilitation Engineering. Vol. 13, no. 3, pp. 380–394, Sep. 2005.
S. H. Collins, M. B. Wiggin, and G. S. Sawicki, Reducing the energy cost of human walking using an unpowered exoskeleton, Nature. Vol. 522, no. 7555, pp. 212–215, 2015.
A. J. Young and D. P. Ferris, State of the Art and Future Directions for Lower Limb Robotic Exoskeletons, IEEE Transactions on Neural Systems and Rehabilitation Engineering. Vol. 25, no. 2, pp. 171–182, 2017.
W. Huo, S. Mohammed, J. C. Moreno, and Y. Amirat, Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art, IEEE System Journal. Vol. 10, no. 3, pp. 1068–1081, 2016.
R. F. Batista, R. Kuteken, U. Bayâo, J. M. Rosario, and D. Dumur, Simulation of hybrid system for reproducing bilateral gait through dynamic model, 2015 International Conference on Virtual Rehabilitation Proceedings (ICVR), 2015, pp. 160–161.
J. F. Puerta Barrera, J. M. Rosario, and D. Amaya Hurtado, Control Architecture to Reproduce the Knee and Ankle Movement using a Transfemoral Prosthesis, 2017 International Conference and Workshop on Bioinspired Intelligence (IWOBI), 2017.
A. C. Amadio and J. C. Serrão, A biomecânica em educação física e esporte, Revista Brasileira de Educação Física e Esporte, vol. 25, no. spe, pp. 15–24, 2011.
D. A. Winter, Biomechanics and Motor Control of Human Movement. Hoboken, (NJ, USA: John Wiley & Sons, Inc., 2009).
J. M. Rosário, Modelagem dinâmica e controle de manipuladores robóticos, Princípios de Mecatrônica, (Prentice Hall, 2005, p. 356).
Mohammed, M., Miskon, M., Abdul Jalil, M., Smooth Sub-Phases Based Trajectory Planning for Exoskeleton System, (2017) International Review of Electrical Engineering (IREE), 12 (3), pp. 267-276.
- There are currently no refbacks.
Please send any question about this web site to firstname.lastname@example.org
Copyright © 2005-2023 Praise Worthy Prize