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Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities
Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a p...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9602786/ https://www.ncbi.nlm.nih.gov/pubmed/36292506 http://dx.doi.org/10.3390/healthcare10102054 |
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author | Kavalieros, Dimitrios Kapothanasis, Evangelos Kakarountas, Athanasios Loukopoulos, Thanasis |
author_facet | Kavalieros, Dimitrios Kapothanasis, Evangelos Kakarountas, Athanasios Loukopoulos, Thanasis |
author_sort | Kavalieros, Dimitrios |
collection | PubMed |
description | Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for the rehabilitating of lower limb motor functions. Specifically, the implementation strategy of functional electrical stimulation walking aid combined with the design of the exoskeleton part is the main focus of our research team. This work copes with issues of the design process of a robotic exoskeleton. The importance of robotic exoskeletons for providing walking aid to people with mobility disorders or the elderly is discussed. Furthermore, the approaches to calculating the joint torques are investigated, and the mathematical models and parameters of interest are identified. This further includes the comparative data for servo motors: robotic exoskeleton characteristics and actuator analysis in the robotic exoskeleton. The aforementioned is used to propose a mathematical model based on previous models (Zatsiorsky BSP and Dempster BSP body segment parameters models, forward kinematics models), which was extended to include added adjustable parameters such as length, area, volume, mass, density, the centre of mass, human body characteristics, and considering both static and dynamic parameter extraction. Then, an analytic method is presented, exploiting the results from the mathematical model to select the appropriate motor for each joint of the lower extremities. The detailed description of the method is followed by examples, experimental measurements, and statistical analysis of qualitative and quantitative characteristics. The results showed deviations from typical calculation methods, offering a better understanding of the motor requirements for each joint of the exoskeleton and avoiding selections of marginal functionality features of the motors. In addition, researchers are offered a tool for replicating the results of this work, allowing them to configure the parameters associated with the servo motor features. The researcher can either use the embedded library developed for this work or enter new data into it, affecting the calculated torques of the model joints. The extracted results assist the researcher in choosing the appropriate motor among commercially available brushed and brushless motors based on the torques applied at each joint in robotic articulated systems. |
format | Online Article Text |
id | pubmed-9602786 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-96027862022-10-27 Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities Kavalieros, Dimitrios Kapothanasis, Evangelos Kakarountas, Athanasios Loukopoulos, Thanasis Healthcare (Basel) Article Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for the rehabilitating of lower limb motor functions. Specifically, the implementation strategy of functional electrical stimulation walking aid combined with the design of the exoskeleton part is the main focus of our research team. This work copes with issues of the design process of a robotic exoskeleton. The importance of robotic exoskeletons for providing walking aid to people with mobility disorders or the elderly is discussed. Furthermore, the approaches to calculating the joint torques are investigated, and the mathematical models and parameters of interest are identified. This further includes the comparative data for servo motors: robotic exoskeleton characteristics and actuator analysis in the robotic exoskeleton. The aforementioned is used to propose a mathematical model based on previous models (Zatsiorsky BSP and Dempster BSP body segment parameters models, forward kinematics models), which was extended to include added adjustable parameters such as length, area, volume, mass, density, the centre of mass, human body characteristics, and considering both static and dynamic parameter extraction. Then, an analytic method is presented, exploiting the results from the mathematical model to select the appropriate motor for each joint of the lower extremities. The detailed description of the method is followed by examples, experimental measurements, and statistical analysis of qualitative and quantitative characteristics. The results showed deviations from typical calculation methods, offering a better understanding of the motor requirements for each joint of the exoskeleton and avoiding selections of marginal functionality features of the motors. In addition, researchers are offered a tool for replicating the results of this work, allowing them to configure the parameters associated with the servo motor features. The researcher can either use the embedded library developed for this work or enter new data into it, affecting the calculated torques of the model joints. The extracted results assist the researcher in choosing the appropriate motor among commercially available brushed and brushless motors based on the torques applied at each joint in robotic articulated systems. MDPI 2022-10-17 /pmc/articles/PMC9602786/ /pubmed/36292506 http://dx.doi.org/10.3390/healthcare10102054 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 Kavalieros, Dimitrios Kapothanasis, Evangelos Kakarountas, Athanasios Loukopoulos, Thanasis Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title | Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title_full | Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title_fullStr | Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title_full_unstemmed | Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title_short | Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities |
title_sort | methodology for selecting the appropriate electric motor for robotic modular systems for lower extremities |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9602786/ https://www.ncbi.nlm.nih.gov/pubmed/36292506 http://dx.doi.org/10.3390/healthcare10102054 |
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