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Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability
A power-assisted exoskeleton should be capable of reducing the burden on the wearer’s body or rendering his or her work improved and efficient. More specifically, the exoskeleton should be easy to wear, be simple to use, and provide power assistance without hindering the wearer’s movement. Therefore...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7664921/ https://www.ncbi.nlm.nih.gov/pubmed/33182271 http://dx.doi.org/10.3390/s20216379 |
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author | Liu, Chang Liang, Hongbo Ueda, Naoya Li, Peirang Fujimoto, Yasutaka Zhu, Chi |
author_facet | Liu, Chang Liang, Hongbo Ueda, Naoya Li, Peirang Fujimoto, Yasutaka Zhu, Chi |
author_sort | Liu, Chang |
collection | PubMed |
description | A power-assisted exoskeleton should be capable of reducing the burden on the wearer’s body or rendering his or her work improved and efficient. More specifically, the exoskeleton should be easy to wear, be simple to use, and provide power assistance without hindering the wearer’s movement. Therefore, it is necessary to evaluate the backdrivability, range of motion, and power-assist capability of such an exoskeleton. This evaluation identifies the pros and cons of the exoskeleton, and it serves as the basis for its subsequent development. In this study, a lightweight upper-limb power-assisted exoskeleton with high backdrivability was developed. Moreover, a motion capture system was adopted to measure and analyze the workspace of the wearer’s upper limb after the exoskeleton was worn. The results were used to evaluate the exoskeleton’s ability to support the wearer’s movement. Furthermore, a small and compact three-axis force sensor was used for power assistance, and the effect of the power assistance was evaluated by means of measuring the wearer’s surface electromyography, force, and joint angle signals. Overall, the study showed that the exoskeleton could achieve power assistance and did not affect the wearer’s movements. |
format | Online Article Text |
id | pubmed-7664921 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-76649212020-11-14 Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability Liu, Chang Liang, Hongbo Ueda, Naoya Li, Peirang Fujimoto, Yasutaka Zhu, Chi Sensors (Basel) Article A power-assisted exoskeleton should be capable of reducing the burden on the wearer’s body or rendering his or her work improved and efficient. More specifically, the exoskeleton should be easy to wear, be simple to use, and provide power assistance without hindering the wearer’s movement. Therefore, it is necessary to evaluate the backdrivability, range of motion, and power-assist capability of such an exoskeleton. This evaluation identifies the pros and cons of the exoskeleton, and it serves as the basis for its subsequent development. In this study, a lightweight upper-limb power-assisted exoskeleton with high backdrivability was developed. Moreover, a motion capture system was adopted to measure and analyze the workspace of the wearer’s upper limb after the exoskeleton was worn. The results were used to evaluate the exoskeleton’s ability to support the wearer’s movement. Furthermore, a small and compact three-axis force sensor was used for power assistance, and the effect of the power assistance was evaluated by means of measuring the wearer’s surface electromyography, force, and joint angle signals. Overall, the study showed that the exoskeleton could achieve power assistance and did not affect the wearer’s movements. MDPI 2020-11-09 /pmc/articles/PMC7664921/ /pubmed/33182271 http://dx.doi.org/10.3390/s20216379 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Liu, Chang Liang, Hongbo Ueda, Naoya Li, Peirang Fujimoto, Yasutaka Zhu, Chi Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title | Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title_full | Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title_fullStr | Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title_full_unstemmed | Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title_short | Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability |
title_sort | functional evaluation of a force sensor-controlled upper-limb power-assisted exoskeleton with high backdrivability |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7664921/ https://www.ncbi.nlm.nih.gov/pubmed/33182271 http://dx.doi.org/10.3390/s20216379 |
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