Wang, C., Li, Z., Sheng, B. et al. (5 more authors) (2024) An Assistive Wrist-Elbow Exoskeleton (WE-Exo) Driven by Variable Stiffness Actuators. In: 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 21-24 Nov 2023, Queenstown, New Zealand. IEEE ISBN 9798350325621
Abstract
Exoskeletons have been developed to assist the rehabilitation of stroke patients in the recent years. However, the safety of the physical human-robot interaction (pHRI) of the exoskeleton still need to be further improved. In this study, a 2-degree-of-freedom (2-DoF) rehabilitation exoskeleton is designed for the assistance of elbow flexion/extension (FE) and wrist supination/pronation (SP). The joints are powered by two independent variable stiffness actuators (VSAs), which ensures the intrinsic safety of pHRI of the exoskeleton, and enhances its adaptability to environmental changes, e.g., collisions. Each VSA has two independent DC motors to adjust the output torque and stiffness, respectively. To reduce the moment inertia of the exoskeleton, the wrist actuator is coupled with its main drive motor through a cable-driven system. A feedback linearization controller of the exoskeleton is developed to achieve position tracking of the joints. A prototype of the exoskeleton is developed to evaluate its performance. The result finds that the proposed exoskeleton can assist the movement of users sufficiently with the controller.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | Rehabilitation; Exoskeleton; Series Elastic Actuator; Bowden Cable Transmission |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Medicine and Health (Leeds) > School of Medicine (Leeds) > Institute of Rheumatology & Musculoskeletal Medicine (LIRMM) (Leeds) > Rehabilitation Medicine (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/S019219/1 Royal Society IEC\NSFC\191095 UKRI (UK Research and Innovation) Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Mar 2024 12:49 |
Last Modified: | 15 Mar 2024 12:49 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/m2vip58386.2023.10413391 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:210275 |