scholarly journals A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Mohssen Hosseini ◽  
Roberto Meattini ◽  
Gianluca Palli ◽  
Claudio Melchiorri
Keyword(s):  
Force Sensor ◽  
Robotic Device ◽  
Actuation System ◽  
Arm Rehabilitation ◽  
Basic Force ◽  
Twisted String ◽  
Working Principle ◽  
Robotic Devices ◽  
Robotic Applications ◽  
Electromyography Signals

The preliminary experimental study toward the implementation of an arm rehabilitation device based on a twisted string actuation module is presented. The actuation module is characterized by an integrated force sensor based on optoelectronic components. The adopted actuation system can be used for a wide set of robotic applications and is particularly suited for very compact, light-weight, and wearable robotic devices, such as wearable rehabilitation systems and exoskeletons. Thorough presentation and description of the proposed actuation module as well as the basic force sensor working principle are illustrated and discussed. A conceptual design of a wearable arm assistive system based on the proposed actuation module is presented. Moreover, the actuation module has been used in a simple assistive application, in which surface-electromyography signals are used to detect muscle activity of the user wearing the system and to regulate the support action provided to the user to reduce his effort, showing in this way the effectiveness of the approach.

A Lightweight Robotic Device Based on a Micro-Macro Actuation Concept for the Inspection of Railway Pantograph

2020 ◽  
Vol 12 (6) ◽  
Author(s):  
Giancarlo Santamato ◽  
Domenico Chiaradia ◽  
Massimiliano Solazzi ◽  
Antonio Frisoli
Keyword(s):  
High Frequency ◽  
Structural Integrity ◽  
Passive Movement ◽  
Functional Verification ◽  
Robotic Device ◽  
Structural Dynamic ◽  
Actuation System ◽  
Periodic Maintenance ◽  
Lightweight Structure ◽  
Robotic Devices

Abstract Functional verification of railway pantographs is performed within periodic maintenance programs by means of specifically designed automation and robotic devices that can check their structural integrity and correct functionality. In this paper, we present the design and validation of a new portable inspection robotic device that through structural dynamic excitation and passive movement can assess the health status of railway pantographs. The device is endowed with a new actuation system that combines the large range of force attained through a macro-actuator with the high-frequency capabilities of a micro-actuator while preserving lightweight structure. The reported design and experiments confirm that excitation transmission by accurate force control can be achieved in the entire frequency range, despite the interaction between actuator and structure, and that simulated defects can be revealed by low and high-frequency alterations.

scholarly journals The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke

2021 ◽  
Vol 11 (4) ◽  
pp. 412
Author(s):  
Daniel Gomez-Vargas ◽  
Felipe Ballen-Moreno ◽  
Patricio Barria ◽  
Rolando Aguilar ◽  
José M. Azorín ◽  
...  
Keyword(s):  
Inertial Sensor ◽  
Movement Analysis ◽  
Biomechanical Analysis ◽  
Gait Patterns ◽  
Positive Effects ◽  
General Terms ◽  
Actuation System ◽  
Abnormal Gait ◽  
Ankle Kinematics ◽  
Robotic Devices

Robotic devices can provide physical assistance to people who have suffered neurological impairments such as stroke. Neurological disorders related to this condition induce abnormal gait patterns, which impede the independence to execute different Activities of Daily Living (ADLs). From the fundamental role of the ankle in walking, Powered Ankle-Foot Orthoses (PAFOs) have been developed to enhance the users’ gait patterns, and hence their quality of life. Ten patients who suffered a stroke used the actuation system of the T-FLEX exoskeleton triggered by an inertial sensor on the foot tip. The VICONmotion capture system recorded the users’ kinematics for unassisted and assisted gait modalities. Biomechanical analysis and usability assessment measured the performance of the system actuation for the participants in overground walking. The biomechanical assessment exhibited changes in the lower joints’ range of motion for 70% of the subjects. Moreover, the ankle kinematics showed a correlation with the variation of other movements analyzed. This variation had positive effects on 70% of the participants in at least one joint. The Gait Deviation Index (GDI) presented significant changes for 30% of the paretic limbs and 40% of the non-paretic, where the tendency was to decrease. The spatiotemporal parameters did not show significant variations between modalities, although users’ cadence had a decrease of 70% of the volunteers. Lastly, the satisfaction with the device was positive, the comfort being the most user-selected aspect. This article presents the assessment of the T-FLEX actuation system in people who suffered a stroke. Biomechanical results show improvement in the ankle kinematics and variations in the other joints. In general terms, GDI does not exhibit significant increases, and the Movement Analysis Profile (MAP) registers alterations for the assisted gait with the device. Future works should focus on assessing the full T-FLEX orthosis in a larger sample of patients, including a stage of training.

Hydrostatic Force Sensor for Robotic Applications

1997 ◽  
Vol 119 (1) ◽  
pp. 115-119 ◽  
Author(s):  
H. Kazerooni ◽  
Mark S. Evans ◽  
J. Jones
Keyword(s):  
Experimental Investigation ◽  
Strain Gage ◽  
Failure Modes ◽  
Force Sensor ◽  
Pressure Change ◽  
Theoretical Derivation ◽  
Mathematical Expressions ◽  
Hydrostatic Force ◽  
Tensile Forces ◽  
Robotic Applications

This article presents a theoretical and experimental investigation of a new kind of force sensor which detects forces by measuring an induced pressure change in a material of large Poisson’s ratio. In this investigation, we develop mathematical expressions for the sensor’s sensitivity and bandwidth, and show that its sensitivity can be much larger and its bandwidth is usually smaller than those of existing strain-gage-type sensors. This force sensor is well-suited for measuring large but slowly varying forces. It can be installed in a space smaller than that required for existing sensors. This paper also discusses the effects of various parameters on the sensor’s performance and on failure modes. To verify the theoretical derivation, a prototype force sensor was designed and built. This prototype hydrostatic force sensor can measure the compressive forces up to 7200 lbf and tensile forces up to 3500 lbf.

scholarly journals Corrigendum to “A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications”

2017 ◽  
Vol 2017 ◽  
pp. 1-1
Author(s):  
Mohssen Hosseini ◽  
Roberto Meattini ◽  
Gianluca Palli ◽  
Claudio Melchiorri
Keyword(s):  
Robotic Device ◽  
Twisted String

scholarly journals Toward an Integrated Intervention and Assessment of Robot-Based Rehabilitation

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Amirhossein Majidirad ◽  
Yimesker Yihun ◽  
Laila Cure
Keyword(s):  
Force Sensor ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Feature Reduction ◽  
Physiological Data ◽  
Training Procedure ◽  
Interaction Forces ◽  
Response Data ◽  
Robotic Devices ◽  
Research Challenge

Abstract This study presents robot-based rehabilitation and its assessment. Robotic devices have significantly been useful to help therapists do the training procedure consistently. However, as robotic devices interface with humans, quantifying the interaction and its intended outcomes is still a research challenge. In this study, human–robot interaction during rehabilitation is assessed based on measurable interaction forces and human physiological response data, and correlations are established to plan the intervention and effective limb trajectories within the intended rehabilitation and interaction forces. In this study, the Universal Robot 5 (UR5) is used to guide and support the arm of a subject over a predefined trajectory while recording muscle activities through surface electromyography (sEMG) signals using the Trigno wireless DELSYS devices. The interaction force is measured through the force sensor mounted on the robot end-effector. The force signals and the human physiological data are analyzed and classified to infer the related progress. Feature reduction and selection techniques are used to identify redundant inputs and outputs.

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