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Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton

Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the...

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Autores principales: Calle-Siguencia, John, Callejas-Cuervo, Mauro, García-Reino, Sebastián
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9229016/
https://www.ncbi.nlm.nih.gov/pubmed/35746340
http://dx.doi.org/10.3390/s22124559
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author Calle-Siguencia, John
Callejas-Cuervo, Mauro
García-Reino, Sebastián
author_facet Calle-Siguencia, John
Callejas-Cuervo, Mauro
García-Reino, Sebastián
author_sort Calle-Siguencia, John
collection PubMed
description Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems.
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spelling pubmed-92290162022-06-25 Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton Calle-Siguencia, John Callejas-Cuervo, Mauro García-Reino, Sebastián Sensors (Basel) Article Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems. MDPI 2022-06-16 /pmc/articles/PMC9229016/ /pubmed/35746340 http://dx.doi.org/10.3390/s22124559 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
Calle-Siguencia, John
Callejas-Cuervo, Mauro
García-Reino, Sebastián
Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title_full Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title_fullStr Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title_full_unstemmed Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title_short Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
title_sort integration of inertial sensors in a lower limb robotic exoskeleton
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9229016/
https://www.ncbi.nlm.nih.gov/pubmed/35746340
http://dx.doi.org/10.3390/s22124559
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