Wearable robotics : systems and applications

Content: List of Contributors ............................................................................................................................ xix CHAPTER 1 Upper Limb Exoskeleton Systems-Overview .....................................1 Yang Shen, Peter Walker Ferguson and Jacob Rosen 1.1 Introduction ................................................................................................................ 1 1.2 Overview of Upper Limb Exoskeleton Systems ....................................................... 2 1.2.1 Mechanism ....................................................................................................... 3 1.2.2 Actuation .......................................................................................................... 4 1.3 Assistive Upper Limb Exoskeletons.......................................................................... 8 1.3.1 AIST................................................................................................................. 9 1.3.2 SUEFUL-7 ....................................................................................................... 9 1.3.3 MULOS............................................................................................................ 9 1.3.4 HAL.................................................................................................................. 9 1.3.5 ABLE ............................................................................................................... 9 1.3.6 MyoPro............................................................................................................. 9 1.4 Rehabilitation Upper Limb Exoskeletons................................................................ 10 1.4.1 MIT-MANUS............................................................................................... 10 1.4.2 NeReBot ....................................................................................................... 10 1.4.3 ARM Guide.................................................................................................. 10 1.4.4 ReoGo........................................................................................................... 11 1.4.5 GENTLE/s.................................................................................................... 11 1.4.6 ACT3D .......................................................................................................... 11 1.4.7 iPAM............................................................................................................ 11 1.4.8 Bi-Manu-Track............................................................................................. 11 1.4.9 MIME........................................................................................................... 11 1.4.10 KINARM...................................................................................................... 11 1.4.11 L-Exos .......................................................................................................... 12 1.4.12 BONES......................................................................................................... 12 1.4.13 ARMin III .................................................................................................... 12 1.4.14 MGA............................................................................................................. 12 1.4.15 IntelliArm ..................................................................................................... 12 1.4.16 MEDARM.................................................................................................... 13 1.4.17 Exorn ............................................................................................................ 13 1.4.18 SRE............................................................................................................... 13 1.4.19 RUPERT IV ................................................................................................. 13 1.4.20 RehaBot........................................................................................................ 13 1.4.21 ETS-MARSE................................................................................................ 13 1.4.22 Recupera-Reha ............................................................................................. 13 1.4.23 EXO-UL Series ............................................................................................ 14 1.5 Augmentation Upper Limb Exoskeletons................................................................ 14 1.5.1 SARCOS Guardian XO ................................................................................. 15 1.5.2 SARCOS Guardian GT.................................................................................. 15 1.5.3 ShoulderX from SuitX ................................................................................... 15 1.5.4 EksoVest from Ekso Bionics ......................................................................... 15 1.6 Others ....................................................................................................................... 15 1.6.1 EXARM ......................................................................................................... 15 1.6.2 X-Arm-2 ......................................................................................................... 16 1.6.3 SARCOS Master Arm.................................................................................... 16 1.6.4 SAM ............................................................................................................... 16 1.6.5 CAPIO............................................................................................................ 16 1.6.6 SARCOS Dextrous Arm................................................................................ 16 1.6.7 EMY............................................................................................................... 16 1.7 Conclusion ................................................................................................................ 16 References................................................................................................................. 17 CHAPTER 2 Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation...................................................................... 23 Brahim Brahmi, Maarouf Saad, M.H. Rahman, Cristobal Ochoa-Luna and Islam Rasedul 2.1 Introduction .............................................................................................................. 23 2.2 Characterization of System Rehabilitation .............................................................. 25 2.2.1 Exoskeleton Robot Development .................................................................. 25 2.2.2 Dynamics of Ecole de Technologie Suprieure  Robotic-exoskeleton for Superior Extremity Robot...................................... 25 2.2.3 Problem Statement ......................................................................................... 27 2.3 Control Design ......................................................................................................... 28 2.3.1 Uncertain Estimation ..................................................................................... 28 2.3.2 Estimation of the State of the System ........................................................... 28 2.3.3 Design of Integral Second-Order Terminal Sliding Mode Controller.......... 30 2.3.4 Active Assistive Motion ................................................................................ 34 2.4 Experiment and Comparative Study........................................................................ 35 2.4.1 Experiment Setup........................................................................................... 35 2.4.2 Results of Passive Assistive Motion.............................................................. 37 2.4.3 Comparative Study......................................................................................... 37 2.4.4 Results of Active Assistive Motion............................................................... 39 2.5 Conclusion ................................................................................................................ 42 2.6 Ethics Statement....................................................................................................... 42 Acknowledgments .................................................................................................... 42 References................................................................................................................. 42 CHAPTER 3 Design of the Arm Exoskeleton ABLE Achieving Torque Control Using Ball Screw and Cable Mechanism.............................. 45 Philippe Garrec 3.1 Introduction .............................................................................................................. 45 3.2 The SCS Mechanism: A New Answer to the Challenge of Linear Torque Amplification............................................................................................................ 45 3.2.1 Mechanical Reversibility/Irreversibility-Backdrivability-Torque Transfer Linearity .......................................................................................... 46 3.2.2 Mechanical Torque Amplification on Servomanipulators ............................ 48 3.3 The First ABLE 4D.................................................................................................. 52 3.4 The Completion of ABLE 7D ................................................................................. 54 3.4.1 Forearm  3.4.2 A New Shoulder With Nonorthogonal Joints and Simple Bearing .............. 60 3.5 Conclusion................................................................................................................ 62 Acknowledgments .................................................................................................... 64 References................................................................................................................. 65 CHAPTER 4 Rigid Versus Soft Exoskeletons: Interaction Strategies for Upper Limb Assistive Technology ................................................ 67 Domenico Chiaradia, Michele Xiloyannis, Massimiliano Solazzi, Lorenzo Masia and Antonio Frisoli 4.1 Introduction .............................................................................................................. 67 4.2 Exoskeletons Descriptions ....................................................................................... 69 4.2.1 A Rigid Exoskeleton: The Rehab-Exos......................................................... 70 4.2.2 Elbow Exosuit (Soft Exosuit) ........................................................................ 71 4.3 Exoskeleton Models ................................................................................................. 73 4.3.1 Rehab-Exos (Rigid Exoskeleton)................................................................... 73 4.3.2 Exosuit (Soft Exosuit).................................................................................... 75 4.4 Controls Design........................................................................................................ 76 4.4.1 Direct Torque Control (Rigid Exoskeleton).................................................. 76 4.4.2 Admittance Control (Soft Exosuit)................................................................ 77 4.5 Experimental Setup .................................................................................................. 79 4.5.1 Evaluation of the Direct Torque Control (Rigid Exoskeleton)..................... 79 4.5.2 Evaluation of the Admittance Control (Soft Exosuit) .................................. 80 4.6 Results ...................................................................................................................... 81 4.6.1 Evaluation of the Direct Torque Control (Rigid Exoskeleton)..................... 81 4.6.2 Evaluation of the Admittance Control (Soft Exosuit) .................................. 83 4.6.3 Assistive Performance: Rehab-Exos Versus Exosuit.................................... 84 4.7 Discussion................................................................................................................. 86 4.8 Conclusion................................................................................................................ 88 References................................................................................................................. 88 CHAPTER 5 EXO-UL Upper Limb Robotic Exoskeleton System Series: From 1 DOF Single-Arm to (711) DOFs Dual-Arm............................ 91 Yang Shen and Jacob Rosen 5.1 Introduction .............................................................................................................. 91 5.2 Exoskeleton Systems................................................................................................ 92 5.2.1 Prototype 1 (EXO-UL1) ................................................................................ 92 5.2.2 Prototype 2 (EXO-UL3) ................................................................................ 94 5.2.3 Prototype 3 (EXO-UL7) ................................................................................ 95 5.2.4 Prototype 4 (EXO-UL8) ................................................................................ 96 5.3 Related Research ...................................................................................................... 99 5.3.1 Control Algorithms ........................................................................................ 99 5.3.2 Redundancy Resolution ................................................................................. 99 5.3.3 Synergy Analysis ........................................................................................... 99 5.3.4 Dual-Arm Training ...................................................................................... 100 5.3.5 Virtual Reality.............................................................................................. 100 5.4 Summary................................................................................................................. 100 References............................................................................................................... 100 CHAPTER 6 PRISM: Development of a 2-DOF Dual-Four-Bar Exoskeleton Shoulder Mechanism to Support Elevation, Depression, Protraction, and Retraction .............................................................. 105 Joel C. Perry, Chris K. Bitikofer, Parker W. Hill, Shawn T. Trimble and Eric T. Wolbrecht 6.1 Introduction ............................................................................................................ 105 6.1.1 Rehabilitation Robotics: Exoskeleton Versus End-Effector ....................... 106 6.1.2 Exoskeleton Shoulder Background.............................................................. 106 6.1.3 Overview ...................................................................................................... 111 6.2 Methods: PRISM Development ............................................................................. 111 6.2.1 BLUE SABINO Concept............................................................................. 112 6.2.2 EXO-UL8 Design Approach........................................................................ 113 6.2.3 Shoulder Range of Motion Requirements Estimation ................................ 114 6.2.4 Conceptual Design of a Remote Biomimetic Shoulder Module ................ 116 6.2.5 Gravity Compensation Methods .................................................................. 120 6.3 Results .................................................................................................................... 120 6.3.1 Shoulder Range of Motion Requirements Estimation ................................ 122 6.3.2 Dual Four-Bar Mechanism Proof-of-Concept Mockup .............................. 122 6.3.3 Exoskeleton Clavicle Design and Assembly............................................... 124 6.3.4 Spring-Based Gravity Compensation .......................................................... 124 6.3.5 PRISM Final Design .................................................................................... 126 6.4 Conclusion and Discussion .................................................................................... 128 Acknowledgments .................................................................................................. 129 References............................................................................................................... 129 CHAPTER 7 Design and Modeling of Shoulder Exoskeleton Using Two Revolute Joints .................................................................................. 133 Carlos Parga and Wen Yu 7.1 Introduction ............................................................................................................ 133 7.2 Shoulder Exoskeleton With 2 Degrees of Freedom.............................................. 133 7.3 Shoulder Exoskeleton Design ................................................................................ 135 7.4 Modeling the Shoulder Exoskeleton...................................................................... 139 7.5 Control for the Exoskeleton................................................................................... 141 7.5.1 Lyapunov Stability....................................................................................... 141 7.5.2 Linear Control .............................................................................................. 142 7.5.3 Sliding Mode Controller .............................................................................. 142 7.5.4 Neural Control.............................................................................................. 143 7.6 Electronic and Control System.............................................................................. 143 7.7 Experimental Results.............................................................................................. 145 7.8 Conclusion.............................................................................................................. 148 References............................................................................................................... 148 CHAPTER 8 Hand Exoskeleton Systems-Overview............................................ 149 Peter Walker Ferguson, Yang Shen and Jacob Rosen 8.1 Introduction ............................................................................................................ 149 8.2 Overview of Hand Exoskeleton Systems .............................................................. 150 8.2.1 Mechanism ................................................................................................... 150 8.2.2 Actuation ...................................................................................................... 154 8.2.3 Transmission ................................................................................................ 155 8.2.4 Sensing Method............................................................................................ 156 8.2.5 Control.......................................................................................................... 157 8.3 Assistive Hand Exoskeletons ................................................................................. 158 8.3.1 Brown et al................................................................................................... 158 8.3.2 Lucas et al .................................................................................................... 159 8.3.3 In et al .......................................................................................................... 159 8.3.4 Kadowaki et al ............................................................................................. 159 8.3.5 OFX.............................................................................................................. 159 8.3.6 ExoGlove...................................................................................................... 159 8.3.7 Polygerinos et al........................................................................................... 160 8.3.8 HX................................................................................................................ 160 8.3.9 Secciani et al ................................................................................................ 160 8.4 Rehabilitation Hand Exoskeletons ......................................................................... 160 8.4.1 HWARD..................................................................................................... 161 8.4.2 Gentle/G..................................................................................................... 161 8.4.3 Wege et al .................................................................................................. 162 8.4.4 Kawasaki et al ............................................................................................ 162 8.4.5 HANDEXOS.............................................................................................. 162 8.4.6 Tong et al ................................................................................................... 162 8.4.7 HEXORR ................................................................................................... 163 8.4.8 ATX............................................................................................................ 163 8.4.9 iHandRehab................................................................................................ 163 8.4.10 Rahman et al .............................................................................................. 163 8.4.11 Arata et al................................................................................................... 163 8.4.12 IOTA .......................................................................................................... 163 8.4.13 HEXOSYS-I............................................................................................... 164 8.4.14 Zhang et al ................................................................................................. 164 8.4.15 BRAVO...................................................................................................... 164 8.4.16 Sinfonia ...................................................................................................... 164 8.4.17 Agarwal et al .............................................................................................. 164 8.4.18 Abdallah et al ............................................................................................. 165 8.4.19 Ferguson et al............................................................................................. 165 8.4.20 DexoHand................................................................................................... 165 8.5 Augmentation Hand Exoskeletons......................................................................... 165 8.5.1 Shields et al .................................................................................................. 166 8.5.2 Skil Mate ...................................................................................................... 166 8.5.3 Hasegawa et al ............................................................................................. 166 8.5.4 Tadano et al.................................................................................................. 167 8.5.5 Matheson et al .............................................................................................. 167 8.5.6 RoboGlove ................................................................................................... 167 8.6 Others ..................................................................................................................... 167 8.6.1 SKK Hand Master........................................................................................ 168 8.6.2 Rutgers Master II-ND .................................................................................. 168 8.6.3 Stergiopoulos et al ....................................................................................... 168 8.6.4 Fontana et al................................................................................................. 168 8.6.5 Jo et al .......................................................................................................... 168 8.7 Conclusion .............................................................................................................. 169 References............................................................................................................... 170 CHAPTER 9 A Portable Tailor-Made Exoskeleton for Hand Disabilities ............ 177 Benedetto Allotta, Matteo Bianchi, Enrico Meli, Alessandro Ridolfi and Nicola Secciani 9.1 Introduction ............................................................................................................ 177 9.2 Kinematic Analysis and Synthesis......................................................................... 177 9.3 Kinematic Chain Assessment: First Device .......................................................... 179 9.3.1 Mechanical Design....................................................................................... 181 9.3.2 Electronics and Control Architecture .......................................................... 182 9.3.3 Testing and Discussion ................................................................................ 182 9.4 Ergonomics Improvements: Second Device.......................................................... 183 9.4.1 Mechanical Design....................................................................................... 183 9.4.2 Electronics and Control Architecture .......................................................... 184 9.4.3 Testing and Discussion ................................................................................ 185 9.5 User-Based Actuation Strategy: Final Device....................................................... 185 9.5.1 Mechanical Design....................................................................................... 186 9.5.2 Electronic Components and Control Architecture ...................................... 186 9.5.3 Testing and Discussion ................................................................................ 190 9.6 Conclusions ............................................................................................................ 190 References............................................................................................................... 191 Further Reading ...................................................................................................... 191 CHAPTER 10 Optimal Kinematic Design of the Link Lengths of a Hand Exoskeleton...................................................................... 193 Peter Walker Ferguson, Brando Dimapasoc and Jacob Rosen 10.1 Introduction ............................................................................................................ 193 10.2 Method.................................................................................................................... 194 10.2.1 Modeling the Human Digits ...................................................................... 194 10.2.2 Exoskeleton Topology ............................................................................... 195 10.2.3 Modeling the 3R Planar Mechanisms ....................................................... 197 10.2.4 The Optimization Algorithm ..................................................................... 197 10.3 Results .................................................................................................................... 200 10.3.1 Simulation Results ..................................................................................... 200 10.3.2 Physical Prototype Evaluation ................................................................... 201 10.4 Discussion............................................................................................................... 201 10.4.1 Link Length Evaluation ............................................................................. 201 10.4.2 Prototype Workspace Evaluation .............................................................. 203 10.5 Conclusion.............................................................................................................. 204 Acknowledgement .................................................................................................. 204 References............................................................................................................... 204 CHAPTER 11 Lower Limb Exoskeleton Systems-Overview ................................. 207 Hao Lee, Peter Walker Ferguson and Jacob Rosen 11.1 Introduction ............................................................................................................ 207 11.2 Assistive Exoskeletons ........................................................................................... 208 11.3 Rehabilitation Exoskeletons................................................................................... 215 11.3.1 Rehabilitation With Weight Support ......................................................... 215 11.3.2 Rehabilitation Without Weight Support.................................................... 217 11.4 Augmentation Exoskeletons................................................................................... 217 11.4.1 Assistance Directly Applied to Tasks ....................................................... 218 11.4.2 Assistance Applied on Users ..................................................................... 219 11.5 Actuation of Lower Limb Exoskeletons................................................................ 221 11.6 Future for Lower Limb Exoskeletons.................................................................... 222 References............................................................................................................... 223 CHAPTER 12 WalkON Suit: A Medalist in the Powered Exoskeleton Race of Cybathlon 2016................................................................... 231 Jungsu Choi and Kyoungchul Kong 12.1 Introduction ............................................................................................................ 231 12.2 Design of WalkON Suit ......................................................................................... 232 12.2.1 Overall Configuration ................................................................................ 232 12.2.2 Actuation Systems...................................................................................... 232 12.2.3 Robotic Legs .............................................................................................. 234 12.2.4 Control Unit and Backpack ....................................................................... 235 12.2.5 Crutches...................................................................................................... 235 12.2.6 User Display............................................................................................... 235 12.3 Sensor System ........................................................................................................ 235 12.4 Human Factors ....................................................................................................... 236 12.4.1 Pilot ............................................................................................................ 236 12.4.2 Knee  12.5 Control System....................................................................................................... 238 12.5.1 Processes of Overall Control System ........................................................ 238 12.5.2 Main Functions of the Control System ..................................................... 240 12.6 Evaluation............................................................................................................... 244 12.6.1 Training ........................................................................................