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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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State of the art in movement around a remote point: a review of remote center of motion in robotics

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 2, doi: 10.1007/s11465-024-0785-3

Abstract: The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications, encompassing areas such as medical robotics, orientation devices, and exoskeletal systems. The efficacy of RCM technology is a determining factor in the success of these robotic domains. This paper offers an exhaustive review of RCM technologies, elaborating on their various methodologies and practical implementations. It delves into the unique characteristics of RCM across different degrees of freedom (DOFs), aiming to distill their fundamental principles. In addition, this paper categorizes RCM approaches into two primary classifications: design based and control based. These are further organized according to their respective DOFs, providing a concise summary of their core methodologies. Building upon the understanding of RCM’s versatile capabilities, this paper then transitions to an in-depth exploration of its applications across diverse robotic fields. Concluding this review, we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications. This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

Keywords： remote center of motion     mechanism     robotics     medical robot     orientation device     exoskeleton    

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Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1076-1085 doi: 10.1631/FITEE.1601667

Abstract:

We proposed a lower extremity exoskeleton for power amplification that perceives intended human motionIn this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robotThe mapping is derived from the real-time state of the robotic exoskeleton during movement.A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton toExperiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton

Keywords： Exoskeleton     Physical human-robot interaction     Torque sensor     Human gait     Kalman smoother    

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Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 318-329 doi: 10.1631/FITEE.1800561

Abstract: In this study, we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE), aimingof freedom, and all the joints are actuated independently by direct current motors, which allows the robotThe new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot

Keywords： Lower-limb     Exoskeleton     Self-balancing     Bipedal walking     Modular design    

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Cross-industry standard test method developments: from manufacturing to wearable robots Review

Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 10,   Pages 1447-1457 doi: 10.1631/FITEE.1601316

Abstract: Manufacturing robotics is moving towards human-robot collaboration with light duty robots being used

Keywords： Wearable robot     Exoskeleton     Cross-industry     Artifact     Standards     Grasping    

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Design and preliminary evaluation of an exoskeleton for upper limb resistance training

Tzong-Ming WU, Dar-Zen CHEN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 188-198 doi: 10.1007/s11465-012-0327-2

Abstract: A compact design of upper limb exoskeleton mechanism for home-based resistance training using a spring-loadedupper limb exoskeleton with a three degree-of-freedom shoulder joint and a one degree-of-freedom elbowadopting an appropriate motion analysis system and experimental design to verify our prototype of the exoskeletonand determine the optimal configuration of the spring-loaded upper limb exoskeleton.

Keywords： exoskeleton     free-weight exercise     upper limb     motion analysis    

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Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization Research Article

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 104-116 doi: 10.1631/FITEE.2200065

Abstract: As a wearable robot, an exoskeleton provides a direct transfer of mechanical power to assist or augmentWhen an exoskeleton is used to facilitate the wearer’s movement, a motion generation process often playsTo adapt the trajectory to different situations when the exoskeleton is used by different wearers, wemotion model is first learned by ProMP offline, which can generate reference trajectories for use by exoskeleton

Keywords： Lower limb exoskeleton     Human-robot interaction     Motion learning     Trajectory generation     Movement primitive    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbagsThe joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags

Keywords： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral Research Articles

Donghai WANG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6,   Pages 920-936 doi: 10.1631/FITEE.2000465

Abstract: joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton

Keywords： Sensor-guided     Lower-extremity-exoskeleton     Body sensor network     Gait synchronization     Weight-support    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThe dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofFinally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract: We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platformA collision avoidance algorithm is introduced for the robot taping manipulation.

Keywords： robot taping     path planning     robot manipulation     3D scanning    

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Unpowered Knee Exoskeleton Reduces Quadriceps Activity during Cycling Article

Ronnapee Chaichaowarat,Jun Kinugawa,Kazuhiro Kosuge

Engineering 2018, Volume 4, Issue 4,   Pages 471-478 doi: 10.1016/j.eng.2018.07.011

Abstract: We developed an exoskeleton prototype using a crossing four-bar mechanism as a knee joint with an embeddedThis study evaluates the passive knee exoskeleton using constant-power cycling tests performed by eightAt the same cycling load, the median power spectral frequency decreases when cycling with the exoskeletonQuadriceps activity can be relieved despite the exoskeleton consuming no electrical energy and not delivering

Keywords： Augmentation     Cycling     Energy cost     Electromyography     Exoskeleton     Knee     Orthosis     Muscle activity    

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Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0777-8

Abstract: In this paper, a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismaticthe robot has sufficient stability while climbing obstacles.Terrain-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.Experiments show that the proposed robot could climb platforms with heights up to 33.3% of the robot’s length or cross gaps with widths up to 43.5% of the robot’s length.

Keywords： mechanical design     tracked robot     underactuated mechanisms     RRP mechanism     obstacle crossing strategy    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0739-6

Abstract: Continuum robot has attracted extensive attention since its emergence.Thus, it is well suited for use as a continuum robot joint.Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot.Furthermore, the motion performance of the designed continuum robot is evaluated.compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot

Keywords： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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Title Author Date Type Operation

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

State of the art in movement around a remote point: a review of remote center of motion in robotics

Journal Article

Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Journal Article

Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

Journal Article

Cross-industry standard test method developments: from manufacturing to wearable robots

Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU

Journal Article

Design and preliminary evaluation of an exoskeleton for upper limb resistance training

Tzong-Ming WU, Dar-Zen CHEN

Journal Article

Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Journal Article

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral

Donghai WANG

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Journal Article

Unpowered Knee Exoskeleton Reduces Quadriceps Activity during Cycling

Ronnapee Chaichaowarat,Jun Kinugawa,Kazuhiro Kosuge

Journal Article

Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

Journal Article

Design and modeling of continuum robot based on virtual-center of motion mechanism

Journal Article