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Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Soft exosuits stand out when it comes to the development of walking-assistance devices thanks to both their higher degree of wearability, lower weight, and price compared to the bulkier equivalent rigid exoskeletons. In cable-driven exosuits, the acting force is driven by cables from the actuation s...

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Autores principales: Jorge, Daniel Rodríguez, García, Javier Bermejo, Jayakumar, Ashwin, Moreno, Rafael Lorente, Ortiz, Rafael Agujetas, Sánchez, Francisco Romero
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9185532/
https://www.ncbi.nlm.nih.gov/pubmed/35684930
http://dx.doi.org/10.3390/s22114309
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author Jorge, Daniel Rodríguez
García, Javier Bermejo
Jayakumar, Ashwin
Moreno, Rafael Lorente
Ortiz, Rafael Agujetas
Sánchez, Francisco Romero
author_facet Jorge, Daniel Rodríguez
García, Javier Bermejo
Jayakumar, Ashwin
Moreno, Rafael Lorente
Ortiz, Rafael Agujetas
Sánchez, Francisco Romero
author_sort Jorge, Daniel Rodríguez
collection PubMed
description Soft exosuits stand out when it comes to the development of walking-assistance devices thanks to both their higher degree of wearability, lower weight, and price compared to the bulkier equivalent rigid exoskeletons. In cable-driven exosuits, the acting force is driven by cables from the actuation system to the anchor points; thus, the user’s movement is not restricted by a rigid structure. In this paper, a 3D inverse dynamics model is proposed and integrated with a model for a cable-driven actuation to predict the required motor torque and traction force in cables for a walking-assistance exosuit during gait. Joint torques are to be shared between the user and the exosuit for different design configurations, focusing on both hip and ankle assistance. The model is expected to guide the design of the exosuit regarding aspects such as the location of the anchor points, the cable system design, and the actuation units. An inverse dynamics analysis is performed using gait kinematic data from a public dataset to predict the cable forces and position of the exosuit during gait. The obtained joint reactions and cable forces are compared with those in the literature, and prove the model to be accurate and ready to be implemented in an exosuit control scheme. The results obtained in this study are similar to those found in the literature regarding the walking study itself as well as the forces under which cables operate during gait and the cable position cycle.
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spelling pubmed-91855322022-06-11 Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit Jorge, Daniel Rodríguez García, Javier Bermejo Jayakumar, Ashwin Moreno, Rafael Lorente Ortiz, Rafael Agujetas Sánchez, Francisco Romero Sensors (Basel) Article Soft exosuits stand out when it comes to the development of walking-assistance devices thanks to both their higher degree of wearability, lower weight, and price compared to the bulkier equivalent rigid exoskeletons. In cable-driven exosuits, the acting force is driven by cables from the actuation system to the anchor points; thus, the user’s movement is not restricted by a rigid structure. In this paper, a 3D inverse dynamics model is proposed and integrated with a model for a cable-driven actuation to predict the required motor torque and traction force in cables for a walking-assistance exosuit during gait. Joint torques are to be shared between the user and the exosuit for different design configurations, focusing on both hip and ankle assistance. The model is expected to guide the design of the exosuit regarding aspects such as the location of the anchor points, the cable system design, and the actuation units. An inverse dynamics analysis is performed using gait kinematic data from a public dataset to predict the cable forces and position of the exosuit during gait. The obtained joint reactions and cable forces are compared with those in the literature, and prove the model to be accurate and ready to be implemented in an exosuit control scheme. The results obtained in this study are similar to those found in the literature regarding the walking study itself as well as the forces under which cables operate during gait and the cable position cycle. MDPI 2022-06-06 /pmc/articles/PMC9185532/ /pubmed/35684930 http://dx.doi.org/10.3390/s22114309 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Jorge, Daniel Rodríguez
García, Javier Bermejo
Jayakumar, Ashwin
Moreno, Rafael Lorente
Ortiz, Rafael Agujetas
Sánchez, Francisco Romero
Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title_full Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title_fullStr Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title_full_unstemmed Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title_short Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
title_sort force and torque characterization in the actuation of a walking-assistance, cable-driven exosuit
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9185532/
https://www.ncbi.nlm.nih.gov/pubmed/35684930
http://dx.doi.org/10.3390/s22114309
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