Abstract
The present paper deals with the topical issues of the control system development for electric drives of the powered (active) lower-limb exoskeleton device designed for industrial applications. The article explores ways to assist in walking and running modes. Use of special types of the measuring complex allowing to evaluate the operator’s activity and to form the driving signals for electric drives. Particular attention is paid to the simulation of non-linear properties of the electric drive and the measuring system. To assess the results of numerical simulations, a comprehensive criterion for evaluating the quality indicators of the control system, was developed and optimization possibilities for the control system parameters were studied. A comparative analysis of different modes of human moving in assistive industrial device has been presented, and a few proposals for their practical application have been outlined in the article.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Jatsun, S., Savin, S., Yatsun, A., Malchikov, A.: Study of controlled motion of exoskeleton moving from sitting to standing position. In: Borangiu, T. (ed.) Advances in Robot Design and Intelligent Control. AISC, vol. 371, pp. 165–172. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-21290-6_17
Vorochaeva, L.Y., Yatsun, A.S., Jatsun, S.F.: Controlling a quasistatic gait of an exoskeleton on the basis of the expert system. SPIIRAS Proc. 3(52), 70–94 (2017)
Jatsun, S., Savin, S., Yatsun, A., Turlapov, R.: Adaptive control system for exoskeleton performing sit-to-stand motion. In: 2015 10th International Symposium on Mechatronics and Its Applications (ISMA), pp. 1–6. IEEE (2015)
Jatsun, S., Savin, S., Yatsun, A.: Parameter optimization for exoskeleton control system using sobol sequences. In: Parenti-Castelli, V., Schiehlen, W. (eds.) ROMANSY 21 - Robot Design, Dynamics and Control. CICMS, vol. 569, pp. 361–368. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-33714-2_40
Zoss, A.B., Kazerooni, H., Chu, A.: Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Trans. Mechatron. 11(2), 128–138 (2006)
Sankai, Y.: HAL: hybrid assistive limb based on cybernics. In: Kaneko, M., Nakamura, Y. (eds.) Robotics research, vol. 66, pp. 25–34. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-14743-2_3
Kazerooni, H., Steger, R., Huang, L.: Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX). Int. J. Robot. Res. 25(5–6), 561–573 (2006)
Banala, S.K., Agrawal, S.K., Kim, S.H., Scholz, J.P.: Novel gait adaptation and neuromotor training results using an active leg exoskeleton. IEEE/ASME Trans. Mechatron. 15(2), 216–225 (2010)
Rosen, J., Brand, M., Fuchs, M.B., Arcan, M.: A myosignal-based powered exoskeleton system. IEEE Trans. Syst. Man. Cybern. Part A Syst. Hum. 31(3), 210–222 (2001)
Veneman, J.F., et al.: Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15(3), 379–386 (2007)
Pratt G.A., Williamson, M.M.: Series elastic actuators. In: IEEE/RSJ International Conference on Intelligent Robots and Systems 95. ‘Human Robot Interaction and Cooperative Robots’. Proceedings, vol. 1, pp. 399–406. IEEE (1995)
Ortega, R., Kelly, R., Loria, A.: A class of output feedback globally stabilizing controllers for flexible joints robots. IEEE Trans. Robot. Autom. 11(5), 766–770 (1995)
Yamamoto, K., Hyodo, K., Ishii, M., Matsuo, T.: Development of power assisting suit for assisting nurse labor. JSME Int. J. Ser. C 45(3), 703–711 (2002)
Anam, K., Al-Jumaily, A.A.: Active exoskeleton control systems: state of the art. Proc. Eng. 41, 988–994 (2012)
Aguirre-Ollinger, G., Colgate, J.E., Peshkin, M.A., Goswami, A.: Active-impedance control of a lower-limb assistive exoskeleton. In: IEEE 10th International Conference on Rehabilitation Robotics, ICORR 2007, pp. 188–195. IEEE (2007)
Acknowledgements
The work supported by RFBR, research project No 19-01-00540.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Jatsun, S., Malchikov, A., Yatsun, A. (2019). Investigation of Movements of Lower-Limb Assistive Industrial Device. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_22
Download citation
DOI: https://doi.org/10.1007/978-3-030-26118-4_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-26117-7
Online ISBN: 978-3-030-26118-4
eBook Packages: Computer ScienceComputer Science (R0)