The Experts below are selected from a list of 912 Experts worldwide ranked by ideXlab platform
Andrew Mcdaid - One of the best experts on this subject based on the ideXlab platform.
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Modeling and Feasibility of an Elastomer-Based Series Elastic Actuator as a Haptic Interaction Sensor for Exoskeleton Robotics
IEEE-ASME Transactions on Mechatronics, 2019Co-Authors: Christopher Jarrett, Andrew McdaidAbstract:Safe and compliant physical human–robot interaction (HRI) is a crucial consideration in Exoskeleton design. This paper presents a model for an elastomer-based series elastic actuator (eSEA) and tests its feasibility to provide torque sensing as a haptic interface for soft, comfortable HRI in Exoskeletons. The design of the eSEA and a model accounting for elasticity, rate dependency, and rate-independent hysteresis is presented. It is fitted with a worst-case root-mean-square (RMS) error of 1.6% of the full-scale sensor range (FSR) of 4.5 Nm and validated with both multitone sinusoid signals and new elastomers constructed from the same material. We then investigate the feasibility of using the sensor for sustained periods of time, with rehabilitation as a case study. An 8–9 h experiment was designed to mimic how the eSEA might be used in a physiotherapy clinic. The model accuracy displayed some variation in these trials; however, this was limited to a variation in RMS error of 3.3% of FSR. Additionally, any permanent changes appeared to be minor. The results hold promise for obtaining a reliable prediction of HRI torque in an Exoskeleton, leading to improved interaction between man and machine in various haptic applications.
Christopher Jarrett - One of the best experts on this subject based on the ideXlab platform.
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Modeling and Feasibility of an Elastomer-Based Series Elastic Actuator as a Haptic Interaction Sensor for Exoskeleton Robotics
IEEE-ASME Transactions on Mechatronics, 2019Co-Authors: Christopher Jarrett, Andrew McdaidAbstract:Safe and compliant physical human–robot interaction (HRI) is a crucial consideration in Exoskeleton design. This paper presents a model for an elastomer-based series elastic actuator (eSEA) and tests its feasibility to provide torque sensing as a haptic interface for soft, comfortable HRI in Exoskeletons. The design of the eSEA and a model accounting for elasticity, rate dependency, and rate-independent hysteresis is presented. It is fitted with a worst-case root-mean-square (RMS) error of 1.6% of the full-scale sensor range (FSR) of 4.5 Nm and validated with both multitone sinusoid signals and new elastomers constructed from the same material. We then investigate the feasibility of using the sensor for sustained periods of time, with rehabilitation as a case study. An 8–9 h experiment was designed to mimic how the eSEA might be used in a physiotherapy clinic. The model accuracy displayed some variation in these trials; however, this was limited to a variation in RMS error of 3.3% of FSR. Additionally, any permanent changes appeared to be minor. The results hold promise for obtaining a reliable prediction of HRI torque in an Exoskeleton, leading to improved interaction between man and machine in various haptic applications.
Jian S. Dai - One of the best experts on this subject based on the ideXlab platform.
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Mechanism design and analysis of a proposed wheelchair-Exoskeleton hybrid robot for assisting human movement
Mechanical Sciences, 2019Co-Authors: Zhibin Song, Chuanyin Tian, Jian S. DaiAbstract:Abstract. As a conventional mobile assistance device, a wheelchair makes people suffer from skin injuries such as bed sores and ulcer, owing to sitting on a wheelchair for a long period. And the wheelchair is barely able to adapt to complex terrains, such as stairs. With the development of robotic technology, the rise of lower-limb Exoskeleton Robotics provides a new means of motion assistance, and provides training of motor ability. However, it can't support a user to compete long-distance movement because a user need consume much energy to keep balance. Considering the merits and demerits of wheelchairs and Exoskeletons, we propose a novel hybrid motion assistant robot that combines both. The biggest challenge is the design of a mechanism that can transform the robot from a wheelchair into an Exoskeleton, as well as the reverse transformation. To achieve this goal, the mechanism must be able to achieve three configurations: the wheelchair configuration, the support configuration, and the Exoskeleton configuration. To reduce the weight of the robot and make it more compact, the linkages and actuators in the mechanism are designed to be reusable when the configuration changes. The mechanism is designed based on the analysis of functional requirements, and distributed synthesis of the mechanism is adopted. The kinematics and statics of every configuration are discussed in detail, to obtain the most reasonable dimensions using the particle swarm optimization algorithm. The mechanism performance is simulated and verified using ADAMS software. Finally, an experimental prototype is constructed for preliminary tests.
Al Mahmud Abdullah - One of the best experts on this subject based on the ideXlab platform.
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Exoskeletons with virtual reality, augmented reality and gamification for stroke patients' rehabilitation : systematic review
'JMIR Publications Inc.', 2019Co-Authors: Mubin Omar, Alnajjar Fady, Jishtu Nalini, Alsinglawi Belal, Al Mahmud AbdullahAbstract:Background: Robot-assisted therapy has become a promising technology in the field of rehabilitation of post-stroke patients with motor disorders. Motivation during the rehabilitation process is a top priority for a majority of stroke survivors. With the advancement in technology, there has been the introduction of Virtual Reality, Augmented Reality, customizable games or a combination thereof that aid robotic therapy in retaining or increasing the interests of patients to keep performing the exercises. However, there are gaps in evidence regarding the transition from clinical rehabilitation to home-based therapy and it calls for an updated synthesis of literature showcasing this trend. The present review proposes a categorization of these studies according to technologies used by them and also details research in upper limb and lower limb applications. Objective: The goal of this work was to review the practices and technologies implemented for the rehabilitation of post-stroke patients. It aims to assess the effectiveness of Exoskeleton Robotics in conjunction with any of the three technologies, Virtual Reality, Augmented Reality or Gamification for improving activity and participation in post-stroke survivors. Methods: A systematic search of the literature on Exoskeleton Robotics applied with any of the three technologies, Virtual Reality, Augmented Reality or Gamification, was performed in the databases namely; MEDLINE (Medical Literature Analysis and Retrieval System Online, or MEDLARS Online), EMBASE (Excerpta Medica database), Science Direct & The Cochrane Library. Exoskeleton based studies that did not include any VR, AR or gamification elements were excluded and publications from the year 2010 to 2017 were included. Results in the form of improvements in patients were also recorded and taken into consideration in finding the effectiveness of therapy on patients. Results: Thirty studies were identified based on the inclusion criteria that included randomised controlled trials as well as explorative research pieces. There was a total of around 385 participants across the studies. Use of technologies such as Virtual Reality/Augmented Reality/Gamification based Exoskeletons are capable of filling the transition from clinical to home-based settings. Our analysis showed that there were in general improvements in the motor deficiency for patients using the novel interfacing techniques with Exoskeletons. This categorization of studies helps in understanding the scope of rehabilitation therapies that can be successfully arranged for home-based rehabilitation. Conclusions: Future studies are necessary to explore various types of customizable games required to retain or increase the motivation of patients going through the therapy individually
Joon Han Bae - One of the best experts on this subject based on the ideXlab platform.
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A 4-bar mechanism based for knee assist robotic Exoskeleton using singular configuration
IECON Proceedings (Industrial Electronics Conference), 2016Co-Authors: J. Noh, J. Kwon, Y. Oh, W Yang, Joon Han BaeAbstract:Recent progress in wearable Exoskeleton Robotics results from various needs of an aging society. This would spawn a vulnerable workforce in industry sectors to the near future. Thus, for the application to the industrial field, this work proposes an assistive robotic Exoskeleton attached to the calf and thigh of the human leg to totally support a worker's body weight in stand-to-sit with the various seated positions. For this, in this work, a four-bar mechanism based various combinations of passive and active actuators are investigated. Finally the proposed system is composed of one rotary actuator and linear spring based on a four-bar mechanism, considering the high power efficiency for the weight and the mechanical solution to the backdrivability problem of a geared drive. From the extensive simulations, the basic actuation mechanism of the proposed assistive device is confirmed. Then it is verified from experimental results that the robotic Exoskeleton can be used to aid who weighs maximum 85 kg in the arbitrary seated position and is actuated with nearly zero current consumption in the walking.