1
|
Shahabpoor E, Gray B, Plummer A. Wearable Robot Design Optimization Using Closed-Form Human-Robot Dynamic Interaction Model. SENSORS (BASEL, SWITZERLAND) 2024; 24:4081. [PMID: 39000860 PMCID: PMC11244218 DOI: 10.3390/s24134081] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/14/2024] [Revised: 06/09/2024] [Accepted: 06/20/2024] [Indexed: 07/16/2024]
Abstract
Wearable robots are emerging as a viable and effective solution for assisting and enabling people who suffer from balance and mobility disorders. Virtual prototyping is a powerful tool to design robots, preventing the costly iterative physical prototyping and testing. Design of wearable robots through modelling, however, often involves computationally expensive and error-prone multi-body simulations wrapped in an optimization framework to simulate human-robot-environment interactions. This paper proposes a framework to make the human-robot link segment system statically determinate, allowing for the closed-form inverse dynamics formulation of the link-segment model to be solved directly in order to simulate human-robot dynamic interactions. The paper also uses a technique developed by the authors to estimate the walking ground reactions from reference kinematic data, avoiding the need to measure them. The proposed framework is (a) computationally efficient and (b) transparent and easy to interpret, and (c) eliminates the need for optimization, detailed musculoskeletal modelling and measuring ground reaction forces for normal walking simulations. It is used to optimise the position of hip and ankle joints and the actuator torque-velocity requirements for a seven segments of a lower-limb wearable robot that is attached to the user at the shoes and pelvis. Gait measurements were carried out on six healthy subjects, and the data were used for design optimization and validation. The new technique promises to offer a significant advance in the way in which wearable robots can be designed.
Collapse
Affiliation(s)
- Erfan Shahabpoor
- Department of Architecture and Civil Engineering, University of Bath, Claverton Down, Bath BA2 7AY, UK
| | - Bethany Gray
- Department of Architecture and Civil Engineering, University of Bath, Claverton Down, Bath BA2 7AY, UK
| | - Andrew Plummer
- Department of Mechanical Engineering, University of Bath, Claverton Down, Bath BA2 7AY, UK
| |
Collapse
|
2
|
Verdel D, Sahm G, Bruneau O, Berret B, Vignais N. A Trade-Off between Complexity and Interaction Quality for Upper Limb Exoskeleton Interfaces. SENSORS (BASEL, SWITZERLAND) 2023; 23:4122. [PMID: 37112463 PMCID: PMC10142870 DOI: 10.3390/s23084122] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 04/14/2023] [Accepted: 04/18/2023] [Indexed: 06/19/2023]
Abstract
Exoskeletons are among the most promising devices dedicated to assisting human movement during reeducation protocols and preventing musculoskeletal disorders at work. However, their potential is currently limited, partially because of a fundamental contradiction impacting their design. Indeed, increasing the interaction quality often requires the inclusion of passive degrees of freedom in the design of human-exoskeleton interfaces, which increases the exoskeleton's inertia and complexity. Thus, its control also becomes more complex, and unwanted interaction efforts can become important. In the present paper, we investigate the influence of two passive rotations in the forearm interface on sagittal plane reaching movements while keeping the arm interface unchanged (i.e., without passive degrees of freedom). Such a proposal represents a possible compromise between conflicting design constraints. The in-depth investigations carried out here in terms of interaction efforts, kinematics, electromyographic signals, and subjective feedback of participants all underscored the benefits of such a design. Therefore, the proposed compromise appears to be suitable for rehabilitation sessions, specific tasks at work, and future investigations into human movement using exoskeletons.
Collapse
Affiliation(s)
- Dorian Verdel
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Guillaume Sahm
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Olivier Bruneau
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Bastien Berret
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Nicolas Vignais
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| |
Collapse
|
3
|
Majidi Fard Vatan H, Nefti-Meziani S, Davis S, Saffari Z, El-Hussieny H. A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01353-x] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Abstract
AbstractThe importance of the human upper limb role in performing daily life and personal activities is significant. Improper functioning of this organ due to neurological disorders or surgeries can greatly affect the daily activities performed by patients. This paper aims to comprehensively review soft and rigid wearable robotic devices provided for rehabilitation and assistance focusing on the shoulder joint. In the last two decades, many devices have been proposed in this regard, however, there have been a few groups whose devices have had effective therapeutic capability with acceptable clinical evidence. Also, there were not many portable, lightweight and user-friendly devices. Therefore, this comprehensive study could pave the way for achieving optimal future devices, given the growing need for these devices. According to the results, the most commonly used plan was Exoskeleton, the most commonly used actuators were electrical, and most devices were considered to be stationary and rigid. By doing these studies, the advantages and disadvantages of each method are also presented. The presented devices each have a new idea and attitude in a specific field to solve the problems of movement disorders and rehabilitation, which were in the form of prototypes, initial clinical studies and sometimes comprehensive clinical and commercial studies. These plans need more comprehensive clinical trials to become a complete and efficient plan. This article could be used by researchers to identify and evaluate the important features and strengths and weaknesses of the plans to lead to the presentation of more optimal plans in the future.
Collapse
|
4
|
Mortenson WB, Pysklywec A, Chau L, Prescott M, Townson A. Therapists’ experience of training and implementing an exoskeleton in a rehabilitation centre. Disabil Rehabil 2020; 44:1060-1066. [DOI: 10.1080/09638288.2020.1789765] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
Affiliation(s)
- W. Ben Mortenson
- Department of Occupational Science and Occupational Therapy, University of British Columbia, Vancouver, Canada
| | | | - Leena Chau
- Faculty of Health Sciences, Simon Fraser University, Burnaby, Canada
| | - Michael Prescott
- Faculty of Graduate and Postdoctoral Studies, University of British Columbia, Vancouver, Canada
| | - Andrea Townson
- Department of Physical Medicine & Rehabilitation, University of British Columbia, Vancouver, Canada
| |
Collapse
|
5
|
Li J, Zuo S, Xu C, Zhang L, Dong M, Tao C, Ji R. Influence of a Compatible Design on Physical Human-Robot Interaction Force: a Case Study of a Self-Adapting Lower-Limb Exoskeleton Mechanism. J INTELL ROBOT SYST 2019. [DOI: 10.1007/s10846-019-01063-5] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
|
6
|
Riani A, Madani T, Hadri AE, Benallegue A. Adaptive control based on an on-line parameter estimation of an upper limb exoskeleton. IEEE Int Conf Rehabil Robot 2017; 2017:695-701. [PMID: 28813901 DOI: 10.1109/icorr.2017.8009329] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents an adaptive control strategy for an upper-limb exoskeleton based on an on-line dynamic parameter estimator. The objective is to improve the control performance of this system that plays a critical role in assisting patients for shoulder, elbow and wrist joint movements. In general, the dynamic parameters of the human limb are unknown and differ from a person to another, which degrade the performances of the exoskeleton-human control system. For this reason, the proposed control scheme contains a supplementary loop based on a new efficient on-line estimator of the dynamic parameters. Indeed, the latter is acting upon the parameter adaptation of the controller to ensure the performances of the system in the presence of parameter uncertainties and perturbations. The exoskeleton used in this work is presented and a physical model of the exoskeleton interacting with a 7 Degree of Freedom (DoF) upper limb model is generated using the SimMechanics library of MatLab/Simulink. To illustrate the effectiveness of the proposed approach, an example of passive rehabilitation movements is performed using multi-body dynamic simulation. The aims is to maneuver the exoskeleton that drive the upper limb to track desired trajectories in the case of the passive arm movements.
Collapse
|
7
|
Li J, Zhang Z, Tao C, Ji R. A number synthesis method of the self-adapting upper-limb rehabilitation exoskeletons. INT J ADV ROBOT SYST 2017. [DOI: 10.1177/1729881417710796] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Affiliation(s)
- Jianfeng Li
- College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, People’s Republic of China
| | - Ziqiang Zhang
- College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, People’s Republic of China
- Robotic Institute, Beihang University, Beijing, People’s Republic of China
| | - Chunjing Tao
- National Research Center for Rehabilitation Technical Aids, Beijing, People’s Republic of China
| | - Run Ji
- National Research Center for Rehabilitation Technical Aids, Beijing, People’s Republic of China
| |
Collapse
|
8
|
Jarrassé N, Proietti T, Crocher V, Robertson J, Sahbani A, Morel G, Roby-Brami A. Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients. Front Hum Neurosci 2014; 8:947. [PMID: 25520638 PMCID: PMC4249450 DOI: 10.3389/fnhum.2014.00947] [Citation(s) in RCA: 60] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/30/2014] [Accepted: 11/06/2014] [Indexed: 11/13/2022] Open
Abstract
Upper-limb impairment after stroke is caused by weakness, loss of individual joint control, spasticity, and abnormal synergies. Upper-limb movement frequently involves abnormal, stereotyped, and fixed synergies, likely related to the increased use of sub-cortical networks following the stroke. The flexible coordination of the shoulder and elbow joints is also disrupted. New methods for motor learning, based on the stimulation of activity-dependent neural plasticity have been developed. These include robots that can adaptively assist active movements and generate many movement repetitions. However, most of these robots only control the movement of the hand in space. The aim of the present text is to analyze the potential of robotic exoskeletons to specifically rehabilitate joint motion and particularly inter-joint coordination. First, a review of studies on upper-limb coordination in stroke patients is presented and the potential for recovery of coordination is examined. Second, issues relating to the mechanical design of exoskeletons and the transmission of constraints between the robotic and human limbs are discussed. The third section considers the development of different methods to control exoskeletons: existing rehabilitation devices and approaches to the control and rehabilitation of joint coordinations are then reviewed, along with preliminary clinical results available. Finally, perspectives and future strategies for the design of control mechanisms for rehabilitation exoskeletons are discussed.
Collapse
Affiliation(s)
- Nathanaël Jarrassé
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- U1150, Institut National de la Santé et de la Recherche Médicale (INSERM), Agathe-ISIR, Paris, France
| | - Tommaso Proietti
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- U1150, Institut National de la Santé et de la Recherche Médicale (INSERM), Agathe-ISIR, Paris, France
| | - Vincent Crocher
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- Department of Electrical and Electronic Engineering, University of Melbourne, Melbourne, VIC, Australia
| | - Johanna Robertson
- Department of Physical Medicine and Rehabilitation, Hôpital Raymond Poincaré, Garches, France
| | - Anis Sahbani
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- U1150, Institut National de la Santé et de la Recherche Médicale (INSERM), Agathe-ISIR, Paris, France
| | - Guillaume Morel
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- U1150, Institut National de la Santé et de la Recherche Médicale (INSERM), Agathe-ISIR, Paris, France
| | - Agnès Roby-Brami
- UMR 7222, Center National de la Recherche Scientifique (CNRS), Institute of Intelligent Systems and Robotics (ISIR), Paris, France
- UMR 7222, Sorbonne Universités, UPMC Univ Paris, Paris, France
- U1150, Institut National de la Santé et de la Recherche Médicale (INSERM), Agathe-ISIR, Paris, France
- Department of Physical Medicine and Rehabilitation, Hôpital Raymond Poincaré, Garches, France
| |
Collapse
|