This paper presents a design concept for affordable exoskeletons without renouncing to advanced interaction control modalities based on force control technologies. Affordability is reached by (1) lowering the motor requirements, thanks to a smart mechanical design, (2) lowering the sensing requirements, thanks to extensive use of microprocessor DMA, and (3) using low-cost computational platforms. A main finding of this work is that by lowering the motor requirements the exoskeleton improves its inherent force controllability.

References

[1]

A Calanca, E Dimo, R Vicario, P Fiorini, M Serpelloni, and G Legnani. 2019. Introducing Series Elastic Links for Affordable Torque-Controlled Robots. IEEE Robotics and Automation Letters 4, 1 (2019), 137–144. https://doi.org/10.1109/LRA.2018.2878353

Crossref

Google Scholar

[2]

Andrea Calanca and Paolo Fiorini. 2018. A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators. IEEE Transaction on Robotics 34, 1 (2018), 48–61. https://doi.org/10.1109/TRO.2017.2765667

Crossref

Google Scholar

[3]

Andrea Calanca, Riccardo Muradore, and Paolo Fiorini. 2016. A Review of Algorithms for Compliant Control of Stiff and Fixed Compliance Robots. IEEE Transaction on Mechatronics 21, 2 (2016), 613–624. https://doi.org/10.1109/TMECH.2015.2465849

Crossref

Google Scholar

[4]

R. H. Cannon and D. E. Rosenthal. 1984. Experiments in control of flexible structures with noncolocated sensors and actuators. Journal of Guidance and Control 3, 3 (1984), 546–553.

Crossref

Google Scholar

[5]

J. L. Herder. 2001. Energy-free systems: theory, conception, and design of statically balanced spring mechanisms. (2001).

Google Scholar

[6]

Paweł Maciejasz, Jörg Eschweiler, Kurt Gerlach-Hahn, Arne Jansen-Troy, and Steffen Leonhardt. 2014. A survey on robotic devices for upper limb rehabilitation.Journal of neuroengineering and rehabilitation 11, 1(2014), 3. https://doi.org/10.1186/1743-0003-11-3

Crossref

Google Scholar

[7]

Gill A Pratt and M.M. Williamson. 1995. Series Elastic Actuators. In International Conference on Intelligent Robots and Systems, Vol. 1. IEEE, 399–406. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=525827

Google Scholar

[8]

Stefano Toxiri, Andrea Calanca, Jesus Ortiz, Paolo Fiorini, and Darwin G Caldwell. 2018. A Parallel-Elastic Actuator for a Torque-Controlled Back-support Exoskeleton. Robotics and Automation Letters 3, 1 (2018), 1–8. https://doi.org/10.1109/LRA.2017.2768120

Crossref

Google Scholar

[9]

WHO. 2019. World Health Statistics Overview 2019: Monitoring Healt for the SDGs. Technical Report. 1–28 pages. https://apps.who.int/iris/bitstream/handle/10665/311696/WHO-DAD-2019.1-eng.pdf?ua=1

Google Scholar

Cited By

View all

Botelho AMuniz GSilva ICarneiro JCosta F(2024)A DEPRESSÃO EM IDOSOS ASSISTIDOS PELO CENTRO DE REFERÊNCIA EM ASSISTÊNCIA À SAÚDE DOS IDOSOS (CRASI/HUCF)Revista Contemporânea10.56083/RCV4N12-2164:12(e7057)Online publication date: 19-Dec-2024
https://doi.org/10.56083/RCV4N12-216
Palazzi ELuzi LDimo EMeneghetti MVicario RLuzia RVertechy RCalanca A(2022)An Affordable Upper-Limb Exoskeleton Concept for Rehabilitation ApplicationsTechnologies10.3390/technologies1001002210:1(22)Online publication date: 30-Jan-2022
https://doi.org/10.3390/technologies10010022

Recommendations

Benchmarking Force Control Algorithms
PETRA '21: Proceedings of the 14th PErvasive Technologies Related to Assistive Environments Conference

Force control is nowadays a mature technology and it is becoming more and more common in robotic applications. A specific and significant example are robotic devices for rehabilitation. Despite this, an effective standardized and comprehensive method ...
Parallel coupled actuators for high performance force control: a micro-macro concept
IROS '95: Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1

Current force control capabilities are limited by actuator performance. Brush friction and actuator saturation lead to limit cycles and instability in many force control systems. The authors propose that actuators with the proper passive characteristics ...
Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator
IROS '95: Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3

The purpose of this paper is to describe the results derived from an experimental study of dexterous manipulation using hybrid force and position control. The paper includes descriptions of the electrohydraulic master/slave manipulator, experimental ...

Comments

Information & Contributors

Information

Published In

PETRA '21: Proceedings of the 14th PErvasive Technologies Related to Assistive Environments Conference

June 2021

593 pages

ISBN:9781450387927

DOI:10.1145/3453892

Conference Chair:
Fillia Makedon

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 29 June 2021

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Short-paper
Research
Refereed limited

Conference

PETRA '21

PETRA '21: The 14th PErvasive Technologies Related to Assistive Environments Conference

June 29 - July 2, 2021

Corfu, Greece

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

2
Total Citations
View Citations
84
Total Downloads

Downloads (Last 12 months)4
Downloads (Last 6 weeks)0

Reflects downloads up to 03 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

View all

Botelho AMuniz GSilva ICarneiro JCosta F(2024)A DEPRESSÃO EM IDOSOS ASSISTIDOS PELO CENTRO DE REFERÊNCIA EM ASSISTÊNCIA À SAÚDE DOS IDOSOS (CRASI/HUCF)Revista Contemporânea10.56083/RCV4N12-2164:12(e7057)Online publication date: 19-Dec-2024
https://doi.org/10.56083/RCV4N12-216
Palazzi ELuzi LDimo EMeneghetti MVicario RLuzia RVertechy RCalanca A(2022)An Affordable Upper-Limb Exoskeleton Concept for Rehabilitation ApplicationsTechnologies10.3390/technologies1001002210:1(22)Online publication date: 30-Jan-2022
https://doi.org/10.3390/technologies10010022

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

HTML Format

View this article in HTML Format.

HTML Format

Abstract

References

Cited By

Recommendations

Benchmarking Force Control Algorithms

Parallel coupled actuators for high performance force control: a micro-macro concept

Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator

Comments

Information

Published In

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

Cited By

Login options

Full Access

View options

PDF

eReader

HTML Format

Figures

Other

Share

Share this Publication link

Share on social media

Affiliations