Name
Abstract | ||
|---|---|---|
The use of soft materials to transmit power to the human body has numerous advantages, amongst which safety and kinematic transparency stand out. In previous work we showed that a tethered fabric-based exosuit for the elbow joint, driven by an electric motor through a Bowden cable transmission, reduces the muscular effort associated with flexion movements by working in parallel with its wearer's muscles. We herein propose a refined design of the suit and present an untethered control architecture for gravity compensation and motion-intention detection. The architecture comprises four interconnected modules for power management, low-level motor control and high-level signal processing and data streaming. The controller uses a silicone stretch sensor and a miniature load cell, integrated in the fabric frame, to estimate and minimise the torque that its user needs to exert to perform a movement. We show that the device relieves its wearer from an average of 77% of the total moment required to sustain and move a light weight, with a consequent average reduction in muscular effort of 64.5%. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ROBOSOFT.2018.8405386 | 2018 IEEE International Conference on Soft Robotics (RoboSoft) |
Keywords | Field | DocType |
embedded control,soft materials,soft elbow exosuit,miniature load cell,silicone stretch sensor,high-level signal processing,low-level motor control,power management,motion-intention detection,gravity compensation,untethered control architecture,flexion movements,Bowden cable transmission,electric motor,tethered fabric-based exosuit,kinematic transparency | Load cell,Control theory,Kinematics,Torque,Simulation,Bowden cable,Computer science,Motor control,Powered exoskeleton,Electric motor | Conference |
ISBN | Citations | PageRank |
978-1-5386-4517-8 | 1 | 0.40 |
References | Authors | |
6 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Domenico Chiaradia | 1 | 10 | 4.11 |
| Michele Xiloyannis | 2 | 29 | 5.94 |
| Chris Wilson Antuvan | 3 | 11 | 1.60 |
| Antonio Frisoli | 4 | 476 | 65.01 |
| Lorenzo Masia | 5 | 4 | 1.50 |