Powered Exoskeletons Upper-Limb Design and Technical Trends Kevin - - PowerPoint PPT Presentation
Powered Exoskeletons Upper-Limb Design and Technical Trends Kevin Chu The Papers Discussed 2 Upper-Limb Powered Exoskeleton Design by Joel C. Perry, Jacob Rosen, and Stephen Burn The Technical Trend of the Exoskeleton Robot System for
Upper-Limb Design and Technical Trends
Kevin Chu
by Joel C. Perry, Jacob Rosen, and Stephen Burn
by Heedon Lee, Wansoo Kim, Jungsoo Han, and Changsoo Han
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Who - Heedon Lee, Wansoo Kim, Jungsoo Han, and Changsoo Han What - Analysing Powered Exoskeletons When - 2012 Where - Hanyang University, Seoul, S. Korea
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Why were they motivated? Why is this problem interesting? Why do we even care!?!?
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Purpose of exoskeleton robot systems: Assist - Give power to human joints Augment - Augment the power of the wearer
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Exoskeleton mechanism structure types: Anthropomorphic - rotation axis of the robot joint in alignment with the rotation axis of the human joint Quasi-anthropomorphic - robot joint functionally similar to the human joint Non-anthropomorphic - robot joint is in misalignment with the human joint
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Joint mechanism of exoskeleton robot: Active - rotation axis of the robot joint in alignment with the rotation axis
Passive - robot joint functionally similar to the human joint Quasi-anthropomorphic - robot joint is in misalignment with the human joint
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Human-robot interactions can be divided into cHRI (cognitive human- robot interaction) and pHRI (physical human-robot interaction).
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cHRI (cognitive HRI) control methods: user-command control - Receives signals from normal parts of the human body and generate motion command signals for the robot to assist abnormal parts of the body. Myosignal control - predicts motions by measuring the body’s mircoelectric signals that are generated when humans move
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pHRI (physical HRI) control methods: Force control - basic purpose is to control the action force between human and robot Master-Slave control - reads human motions and implements the same motion Preprogrammed - preprogrammed motions
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◆ Assistive vs Augment ◆ Anthropomorphic vs. Quasi-anthropomorphic vs. Non- anthropomorphic ◆ Active vs. Passive vs Quasi-passive ◆ cHRI vs pHRI ◆ Future work elsewhere? More classifications?
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◆ What did you like about it? Dislikes? ◆ What did you learn? ◆ Other applications?
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First Prototype (1999) Third Prototype (2007)
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Worlds/Games with Haptics)
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Why were they motivated? Why is this problem interesting? Why do we even care!?!?
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Preliminary Investigation Pilot Study on ADLs (Activities of Daily Living) System/Safety requirements Mechanical Human-Machine Interfaces (mHMI) Exoskeletal Joint Design Cable drive system
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Oscillating Inputs with increasing frequency
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◆ Until higher power to weight ratio motors and structural materials are developed, the state of the art in human strength wearable robotics will remain fixed to either immobile platforms or to full body support structures, such as powered wheelchairs or lower limb exoskeleton systems. ◆ They still have lot to offer to assistive and rehabilitative services, as well as virtual simulations and advanced control applications. ◆ Future work elsewhere?
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◆ What did you like about it? Dislikes? ◆ What did you learn? ◆ Other applications?
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