TY - GEN
T1 - Design and Implementation of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators
AU - Xu, Jiajun
AU - Xu, Linsen
AU - Li, Youfu
AU - Peng, Chen
AU - Liu, Jinfu
AU - Xu, Chanchan
AU - Chen, Shouqi
AU - Liu, Yang
AU - Chen, Jian
PY - 2019/8
Y1 - 2019/8
N2 - Lower extremity paralysis tends to be common in recent years, and rehabilitation robots are developed to help patients recover. In this paper, a robotic exoskeleton is designed to provide rehabilitation training in two modes, including robot-active mode and human-active mode. Magnetorheological (MR) actuators are manufactured and set in the robot. In the robot-active mode, the MR actuator works as a clutch to transfer the torque generated by the motor to the leg joint, providing flexible torque instantaneously for human safety and reducing the power consumption. While in the human-active mode, the MR actuator functions as a brake to provide controllable damping torque to conduct anti-resistance training to help patients strengthen muscles. Biomechanical simulation based on AnyBody Modeling System (AMS) is also analyzed. Then, a human-robot interaction control method is proposed, where the effect of the MR actuators is taken into consideration, and experiments are conducted to verify effectiveness of the control strategy of the robotic system.
AB - Lower extremity paralysis tends to be common in recent years, and rehabilitation robots are developed to help patients recover. In this paper, a robotic exoskeleton is designed to provide rehabilitation training in two modes, including robot-active mode and human-active mode. Magnetorheological (MR) actuators are manufactured and set in the robot. In the robot-active mode, the MR actuator works as a clutch to transfer the torque generated by the motor to the leg joint, providing flexible torque instantaneously for human safety and reducing the power consumption. While in the human-active mode, the MR actuator functions as a brake to provide controllable damping torque to conduct anti-resistance training to help patients strengthen muscles. Biomechanical simulation based on AnyBody Modeling System (AMS) is also analyzed. Then, a human-robot interaction control method is proposed, where the effect of the MR actuators is taken into consideration, and experiments are conducted to verify effectiveness of the control strategy of the robotic system.
KW - Biomechanical analysis
KW - Impedance control
KW - Lower extremity robotic exoskeleton
KW - MR actuator
UR - https://www.scopus.com/pages/publications/85072381794
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85072381794&origin=recordpage
U2 - 10.1109/ICMA.2019.8816358
DO - 10.1109/ICMA.2019.8816358
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 978-1-7281-1698-3
T3 - IEEE International Conference on Mechatronics and Automation, ICMA
SP - 1294
EP - 1299
BT - 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PB - IEEE
T2 - 16th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019
Y2 - 4 August 2019 through 7 August 2019
ER -