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 Human Power Assistance by Heedon Lee, Wansoo Kim, Jungsoo Han, and Changsoo Han

The Technical Trend of the Exoskeleton Robot System 3

Technical Trend - Five Ws 4 Who - Heedon Lee, Wansoo Kim, Jungsoo Han, and Changsoo Han What - Analysing Powered Exoskeletons When - 2012 Where - Hanyang University, Seoul, S. Korea

Technical Trend - Why 5 Why were they motivated? Why is this problem interesting? Why do we even care!?!?

Technical Trend - Approach 6 Purpose of exoskeleton robot systems: Assist - Give power to human joints Augment - Augment the power of the wearer

Technical Trend - Approach 7 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

Technical Trend - Approach 8 Joint mechanism of exoskeleton robot: Active - rotation axis of the robot joint in alignment with the rotation axis of the human joint Passive - robot joint functionally similar to the human joint Quasi-anthropomorphic - robot joint is in misalignment with the human joint

Technical Trend - Approach 9 Human-robot interactions can be divided into cHRI (cognitive human- robot interaction) and pHRI (physical human-robot interaction).

Technical Trend - Approach 10 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

Technical Trend - Approach 11 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

Technical Trend - Results 12

Technical Trend - Conclusions 13 Assistive vs Augment ◆ Anthropomorphic vs. Quasi-anthropomorphic vs. Non- ◆ anthropomorphic Active vs. Passive vs Quasi-passive ◆ cHRI vs pHRI ◆ Future work elsewhere? More classifications? ◆

Technical Trend - Discussion 14 What did you like about it? Dislikes? ◆ What did you learn? ◆ Other applications? ◆

Upper-Limb Powered Exoskeleton Design 15 5 First Prototype (1999) Third Prototype (2007)

Upper Limb Design - Five Ws 16 Who - Joel C. Perry, Jacob Rosen, and Stephen Burn What - Wearable Robotics (and other topics) When - Third prototype 2007 (Active Research in Virtual Worlds/Games with Haptics) Where - Bionics Lab at UCLA

Upper Limb Design - Why 17 Why were they motivated? Why is this problem interesting? Why do we even care!?!?

Upper Limb Design - Approach 18 Preliminary Investigation Pilot Study on ADLs (Activities of Daily Living) System/Safety requirements Mechanical Human-Machine Interfaces (mHMI) Exoskeletal Joint Design Cable drive system

Upper Limb Design - Approach 19

Upper Limb Design - Approach 20

Upper Limb Design - Testing 21 1 Modeled CAD Design System bandwidth is limited by a system’s lowest natural frequency Oscillating Inputs with increasing frequency

Upper Limb Design - Results 22 0

Upper Limb Design - Results 23 0

Upper Limb Design - Conclusions 24 0 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? ◆

Upper Limb Design - Discussion 25 0 What did you like about it? Dislikes? ◆ What did you learn? ◆ Other applications? ◆