TY - GEN
T1 - An Assistive Wrist-Elbow Exoskeleton (WE-Exo) Driven by Variable Stiffness Actuators
AU - Wang, Chao
AU - Li, Zhenhong
AU - Sheng, Bo
AU - Sivan, Manoj
AU - Zhang, Zhi Qiang
AU - Bao, Tianzhe
AU - Li, Gu Qiang
AU - Xie, Sheng Quan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Exoskeletons have been developed to assist the rehabilitation of stroke patients in the recent years. However, the safety of the physical human-robot interaction (pHRI) of the exoskeleton still need to be further improved. In this study, a 2-degree-of-freedom (2-DoF) rehabilitation exoskeleton is designed for the assistance of elbow flexion/extension (FE) and wrist supination/pronation (SP). The joints are powered by two independent variable stiffness actuators (VSAs), which ensures the intrinsic safety of pHRI of the exoskeleton, and enhances its adaptability to environmental changes, e.g., collisions. Each VSA has two independent DC motors to adjust the output torque and stiffness, respectively. To reduce the moment inertia of the exoskeleton, the wrist actuator is coupled with its main drive motor through a cable-driven system. A feedback linearization controller of the exoskeleton is developed to achieve position tracking of the joints. A prototype of the exoskeleton is developed to evaluate its performance. The result finds that the proposed exoskeleton can assist the movement of users sufficiently with the controller.
AB - Exoskeletons have been developed to assist the rehabilitation of stroke patients in the recent years. However, the safety of the physical human-robot interaction (pHRI) of the exoskeleton still need to be further improved. In this study, a 2-degree-of-freedom (2-DoF) rehabilitation exoskeleton is designed for the assistance of elbow flexion/extension (FE) and wrist supination/pronation (SP). The joints are powered by two independent variable stiffness actuators (VSAs), which ensures the intrinsic safety of pHRI of the exoskeleton, and enhances its adaptability to environmental changes, e.g., collisions. Each VSA has two independent DC motors to adjust the output torque and stiffness, respectively. To reduce the moment inertia of the exoskeleton, the wrist actuator is coupled with its main drive motor through a cable-driven system. A feedback linearization controller of the exoskeleton is developed to achieve position tracking of the joints. A prototype of the exoskeleton is developed to evaluate its performance. The result finds that the proposed exoskeleton can assist the movement of users sufficiently with the controller.
KW - Bowden Cable Transmission
KW - Exoskeleton
KW - Rehabilitation
KW - Series Elastic Actuator
UR - https://www.scopus.com/pages/publications/85186113881
U2 - 10.1109/M2VIP58386.2023.10413391
DO - 10.1109/M2VIP58386.2023.10413391
M3 - 会议稿件
AN - SCOPUS:85186113881
T3 - 2023 29th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2023
BT - 2023 29th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2023
Y2 - 21 November 2023 through 24 November 2023
ER -