Wearable Robot the Zqrqqron 26april (1)

8/12/2019 Wearable Robot the Zqrqqron 26april (1)

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Wearable Robot

Taqriz Sirhan bin Arifin

Mechatronics Department, Kulliyyah of Engineering

nternational slamic !ni"ersity of MalaysiaSetapa#, Kuala $umpur, Malaysia

lastteenage%hero&gmail%com

Syamim Amani 'in Ahma( )auzi

nternational slamic !ni"ersity Malaysia,

*+--, .alan /omba#,Kuala $umpur,

Malaysia 0a#etpalestin&gmail%com

Eng#u Moh( )ir(aus 'in Eng#u Alam

Mechatronics Department, Kulliyyah of Engineeringnternational slamic !ni"ersity of Malaysia

Setapa#, Kuala $umpur, Malaysia

q1(auh&yahoo%com

Abstract 2 Wearable robot, or a robot E3os#eleton, recei"e(great attention (ue to the gro4ing nee( for seniors, people4ith (isabilities, an( 4or#ers in e3treme en"ironments% 5ne

of the most important requirements in the E3os#eleton Robotfatigues pre"ent these people% Although E3os#eleton robot has been (e"elope(, there are still limits to comfort of the user an(his or her intention to (etect motion% To impro"e these aspects,4reaths an( sensor ban( inten(e( to be use( as mo"ingsensors an( components%

%Key4or(s2 Wearable robot, Exoskeleton, Rehabilitation,

RoboWear, 6onlinear finger control, soft 4earable robot

control, finger joint control.

1. Introduction

The affections in e3os#eletons ha( been (e"elope( rapi(lyin the past fe4 years, (ue to the high e3pectations of its use of 4hich to assist or enhance man7s capacity% 8rimarily theserobots are useful for har( 4or#ers 9or sol(iers: especially inthe e3treme en"ironment, el(erly, or (isable( people% n or(er

to meet the requirement, plenty of e3os#eletons ha"e been(e"elope(% 6a#amura an( Kosuge;< (e"elope( a helper robot% Assisti"e systems for #nee 0oints presente( by elastice3os#eletons;=<% '$EE> is an e3os#eleton platform usinghy(raulic actuators;+<% A ser"o system, calle( ?A$, has been(e"elope( using electric motors, enco(ers, an( EM/;@<%

RoboWearR is an elastic e3os#eleton robot 4ith coilsprings;*<%

To ensure a"ailabilities of e3os#eleton, compliance, motiontrac#ing an( reinforcement 9or help: of human muscles isnecessary% To achie"e these goals, the "arious sensors an(actuators has been (e"elope(% MSS9Muscle stiffness sensors:

an( EM/9Electromyogram: has been use( to calculate ormeasure human mo"ement or spee(% MSS is use( in ai((e"ice for (isable(;< an( a portable sensor net4or# system(e"elope( using MSS, EM/ an( acceleration sensors;B<%

spring actuator systems are also in"estigate(, 4hich can besuitable for e3os#eleton robots% Series Elastic Actuators9SEA:has been propose( for elastic mo"ement of robots% SEA

applie( impe(ance control in hazar(ous situation an( theapplication of human robot interaction pro(uction% ElectoC?y(rostatic Actuator 9E?A: an( a(0ustable stiffnessactuators9a4AS:;< is other types of compliant actuators% Theuse of Soft actuator can pro"i(e comfort to the user (uring themo"ement an( also it can help to estimate the user7s intentions

of mo"ement%There are still limitations in the current e3os#eletons% .oints

4ith hy(raulic actuators cannot follo4 the rapi( human

mo"ement or stiff 0oints inhibiting the transition bet4een the phases of motion% To sol"e these problems, torsion springs can be use( as an alternati"e choice for e3os#eleton robots%

Among torsion springs , helical torsion springs are the mostsuitable one in robot applications, but they usually ha"e highstiffness% Therefore, a coil spring, another form of torsionalspring, has been propose( (ue to its high hol(, one of theintrinsic properties of spiral spring% While a coil spring turne(to an actuator system, 0oint (onor an( MSS are use( to

measure an( estimates mo"ement an( effort by the user%ommon enco(ers mainly (etect human mo"ement, an( it isquite possible because clause is compatible using coil spring%MSS sensor is chosen instea( of the EM/ sensors because of

t4o for practical reasons, cost an( con"enience% The le"el ofuser fatigue is measure( by the MSS%

mailto:[email protected]

mailto:[email protected]



2. APPLICATIONS IN MODERN LIFE

A. Exoskeleton Bionic Suit.

)igure A Trials of 'ionic Suits ?an(s on

RoboWearR is an e3os#eleton (e"elope( by 6T Research,nc;<% The upperClimb e3os#eleton helps to uplift hea"yob0ects% The lo4er limb e3os#eleton can mo"e, squat, stan(Cupan( sa"e pose% Since the ma0or approach use( in lo4erClimb

only the lo4erClimb e3os#eleton is use( in the e3periment% thas four (egrees of free(om on each leg% D motors areinstalle( for airing coil springs that are attache( to the pel"isan( the #nee 0oint% An#le an( hip 0oints are passi"e 0oints%Enco(ers installe( in all 0oints an( D motors% A sensor ban(s4ith MSS 9muscle stiffness sensors: are installe( in the user7s

thigh for measuring muscle acti"ity 9)igure ':%

)igure ' System Description of RoboWear

)igure ' sho4s the lo4er e3os#eleton of RoboWearR%Each engine 4in(s an( un4in(s the spiral spring for generation factor% /enerate( torque is transferre( to the pel"isan( #nee 0oints of the e3os#eleton% An enco(ers an( MSSmeasure the user7s mo"ements an( fatigue% 5nce the user is insquatting position, both springs 4ill un4in(e(% !n(er stan( up

motion, springs are (ifficult to help stan( up position%

Spiral spring is chosen to pro"i(e strong correlationin the 0oints of the e3os#eleton robots% t is of great importancesince affecte( the userFs comfort greatly% Also, it 4oul( beeasier to estimate or anticipate the user7s mo"ements byha"ing the passi"e compliance%

E3os#eleton mechanism requires i(entifying the user

intention% An enco(ers can (etect the mo"ement of the robot4hen the user mo"es% 'ut it 4oul( be more effecti"e if muscle

acti"ity is monitore( so that the robot can acti"ate e"en 4henthe user (oes not mo"e, but hisor her fatigue begins to pile up% EM/9Electromyogram: is oneof the most popular sensors that can be use(% ?o4e"er,

MSS9muscle stiffness sensors: propose( in this paper is tomeasure muscle acti"ity 4hich lea( to the implementation of the MSS so that it is more con"enient for user an( MSS costless% Enco(ers an( MSS9muscle stiffness sensors: has beenuse( to recor( the user7s mo"ement or state% MSS measuresthe muscle acti"ity in the rectus femoris, biceps femoris,

"astus lateralis, an( "astus me(ialis9)igure :% ommonenco(ers on the pel"is an( #nees are responsible in measuringthe user7s mo"ements%

)igure Muscle in Thigh an( 8osition of MSS9muscle

stiffness sensor:

When human squats, "arious thigh muscles are acti"ate(such as rectus femoris, "astus lateralis, an( "astus me(ialis%These muscles generate certain amount of torques to maintain position or lift the bo(y% Specifically, biceps femoris is

acti"ate( 4hen a human is en(uring hea"y loa(s% Therefore,the sensor information from the biceps femoris can be a goo(in(ication of the userFs fatigue%



B. finger wearable robot

1.Intoduction

This section 4ill intro(uce finger 4earable robot that 4as(e"elope( to sol"e the problem of nonClinearity factor of therobot by (e"eloping M8 0oint fle3ion as sho4n in )igure %

)igure MCP joint flexion o!el

Spinal or( n0uries9S: an( stro#e are the main factorsthat a person lost physical abilities% The patients ha"e "ery

goo( mo"ement range from shoul(er to 4rist, but their fingerscannot mo"e as illustrate( in )igure =%

)igure = Malfunction of han!

There ha"e been many 4earable finger robots constructe(to support the patientFs han( that transmit actuation forces byusing con"entional pin 0oint an( rigi( frames% ?o4e"er, the problem is fingers cannot be aligne( (ue to nearby fingers%5ne of the solution to this problem is by a((ing 0oints an(lin#s frames bac#si(e of the han(;G<% 6e"ertheless, as a result,

the 4earable robot get bul#y an( har( to 4ear% To o"ercomethese issues of 0oint mechanism, se"eral 0ointCless 4earable

robotic han(s ha"e been ma(e% nstea( of 0oint an( lin#ageactuation mechanism, 0ointCless robots 4ith pneumaticactuation mechanism ;-< an( ten(on (ri"e mechanism ;<ha"e been (e"elope(% 8neumatically controlle( robotic han(s

ha"e settle( the problems of comple3ity of the robot, but 4erestill not compactcompare( to the size of the han(% .ointCless robotic han( 4ithten(on (ri"e mechanism is one solution to (e"elop a 4earablerobot 4ith compact an( simple structure% To ha"e actuation inthis mechanism, 4ire has to be fastene( in both (istal an(

pro3imal part of the 0oint so that 0oint actuation can be (one

by controlling the 4ire length% This mechanism can be use( to(e"elop a 4earable robot for any part of the human bo(y% Tofulfill the compactness criteria of the 4earable robotic han(,S6! E3oC/lo"e 4ith glo"e an( 0ointCless ten(on (ri"emechanism has been (e"elope( ;<% ?o4e"er, unli#e human,(ue to this mechanism, this robot cannot control fingertip

force an( fingertip (irection% ontrolling the fingertip forcean( (irection can facilitate more "ariety grasping ob0ects an(

finger actions% 'eyon( to this, o"erall soft e3os#eletons ha"eserious problems in control, inclu(ing S6! E3oC/lo"e% Dueto fle3ibility of glo"e, actuating 4ire causes (eformation ofglo"e an( rigi( mo(els become impracticable% E"en though it

is impossible to consi(er all the nonlinearity factors of S6!E3oC/lo"e, attempt has been ma(e to buil( simple mo(el too"ercome nonlinearity in actual e3os#eleton% This paper isintro(ucing the first step of this mo(el% The mo(el has been built to estimate the actuate( 4ire length 4ith 4ire tension forcertain metacarpophalangeal9M8: 0oint angle in fle3ion%

'ase( on this mo(el, the force an( force (irection of M8 0oint can be pre(icte( 4ith 4ire actuation length an( 4iretension% This paper mentions Ten(on Anchoring Support9TASupport:;=<, 4hich 4as (e"elope( to increase the forcetransmission of the 4ire to the fingertip an( (ecrease the

nonlinearity of the robot, for mo(eling%

2. Nonlinearity of te !lo"e

There are four ma0or effects that cause nonlinearity% )irst isthe finger attachment point mo"ement (ue to the complianceof the s#in% Secon( is palm Helcro strap mo"ement (ue to the

(eformation of the glo"e% Thir( is TA Support mo"ement (ueto the s#in compliance% The last is 4ire elongation% These fourma0or nonlinearity factors ha"e been "erifie( throughe3periment%

#. Modelin$

)igure + sho4s M8 0oint 4ire attachment mo(el for fle3ion%)our linear springs are use( to #eep mo(el simple% Each linear spring represents the four ma0or nonlinearity factors presente(in pre"ious section% This mo(el 4as buil( base( on se"eralassumptions% )irst, friction is negligible% Secon(, TA Supportcan mo"e only in one (irection% Thir(, Helcro straps are

assume( to be point%

)igure + MCP joint wire attachent for flexio



c: "#bri! assisti$e lib %"A&' robot

%6TR5D!T56 T5 ?A$

?ybri( assisti"e limb or ?A$ robot is a type of 4earable robot that is (esigne( significantly to assist themo"ement of those patients 4ho ha"e physical (isability% This

type of robot 4as (esign an( (e"elope( by .apan7s Tsu#uba!ni"ersity an( a robotic company #no4n as I'ERD6E;+<% The structure of this 4earable robot is generally ane3os#eleton robot, (esigne( specifically to support an( e3pan(the physical capability of the patients% n most cases, the typeof users 4ho 4oul( benefit a lot from the use this e3os#eleton

robot are the patients 4hose suffere( from hemiplegia% n thissection, 4e 4ill focus on ?A$ to treat the lo4er limb part, or in other 4or(s the leg of the patients%

%W?AT S ?EM8$E/AJ

?emiplegia is a type of paralysis that occurs at thearm, leg, an( torso on the same si(e of the bo(y% This type of (isability is mainly cause( by the (amage at certain part of the brain or might be resulte( from illness, in0ury or stro#e% t is

sai( that the most common reason of hemiplegia is stro#e%'asically, stro#e can cause a lot of mo"ement (isor(ers an(most patients 4ill suffer from hemiplegia 4hen corticospinaltract is affecte(% 5ther reasons for hemiplegia inclu(es spinalcor( in0ury, traumatic brain in0ury or 4hen the brain isaffecte( by (iseases ;@<%

%DEHE$58ME6T 5) T?E $5WER $M' 8ART 5)?A$

The ?A$ robot is in general an e3os#eleton consists

of se"eral po4er units, the main controller, setup units, an( asensing system% ;*<%

)ig% % Single leg "ersion of ?A$

The e3os#eleton mechanism is (esigne( to supportthe mechanical functions of the lo4er human bo(y% The 0oint bet4een each lin#s of this e3os#eleton has one D5)mo"ement an( it is attache( to the user7s legs an( hips byusing belt%% The functions of each parts on the e3os#eleton legsare presente( in the ne3t section%

A' Power (nits

8o4er units 4ill generate the torques require( by thesystem7s (ynamics% Each unit integrates an actuator, a motor

(ri"er, a microprocessor an( a communication interface% Thesupport require( by the patient 4ill be achie"e( 4hen thetorque pro(uce( by the po4er units is transmitte( to the patient legs through the e3os#eleton frames% ;*<%

B' Main Controller

The purpose of this part is to control the po4er units,monitor the batteries an( also communicate 4ith the systemoperator% 5ne of the functions of this part is to control the

assist torque of the po4er units to perform the motion supportnee(e( by the user such as 4al#ing, stan(ing an( sittingmotion% 'esi(es, the main controller also capable to sen( thesensors information an( the con(ition of the system to themain monitoring system, 4hich 4ill allo4 the users toac#no4le(ge an( a(0ust the require( system parameters

through the pro"i(e( "isual fee(bac#% ;*<%

C' Setu) (nit

This part contains the batteries an( is built 4ith an

interface to a(0ust the parameters of ?A$ robot% This interfaceallo4s the users to a(0ust the assist torque gain to their (esire("alue that matches their comfortability le"el% They are alsoable to turn on an( off ?A$ easily from here% ;*<%

*' Sensors

?A$ robot is equippe( 4ith a sensing systemcomprising se"eral types of sensors% Each of the e3os#eleton 0oints is equippe( 4ith a potentiometer to measure the 0ointangles% 'ioelectrical sensors are attache( at the users s#in

surface of the fle3or an( e3tensor muscles on the hip an(#nee 0oint in or(er to (etect their acti"ity% 5ther than that, thee3os#eleton shoes also are equippe( 4ith )R) sensors in eachone of them% This sensor is use( to measure the floor reactionforces generate( on the usersF feet% ;*<%



%?A$ 56TR5$ DES/6

'asically, ?A$ technology uses ybernic ontrolSystem in its (esign, 4hich is a hybri( control system bet4eent4o types of system #no4n as ybernic Holuntary ontrol9'ioCybernic ontrol: an( ybernic Autonomous ontrol

9ybernic Robot ontrol:%ybernic Holuntary ontrol functions accor(ing to

the userFs "oluntary muscles acti"ity% The 0oint torques pro(uces are estimate( base( on the user7s bioelectricalsignals% n other 4or(s, the bioelectrical signals are use( as aninput comman( to control the e3os#eleton actions accor(ing to

the userFs intentions%5n the other han(, The ybernic Autonomous

ontrol functions base( on the recor(e( motion patterns froman able bo(ie( person% 'asically, this system applies 8haseSequence metho( using human motion characteristics 4hich4ill enable ?A$ to generate the humanCli#e motion in an

autonomous 4ay% This autonomous system are more a(aptableto pro"i(e motion support for patients 4ho suffere( fromstro#e relate( paralysis as it (oesn7t nee( any signals from theuserFs muscle% The stro#e relate( patientsF muscle is unsuitablefor ybernic Holuntary ontrol as may also gi"e out lot of

in"oluntary signals that contains (isturbances to the inputsignal require(% ;*<%

H% 8?ASE SE!E6ES MET?5D

The phase sequence metho( use( in the ybernicautonomous control is (i"i(e( into + stages% /raphically, thestages flo4 can be (escribe( as follo4sL

first stageL

secon( stageL

thir( stageL

During the first stage, the bo(y mo"ements from anormal person are recor(e(% The recor(e( bo(y mo"ementsare then analyze( base( on motion "ariables an( the patients physiological (ata% After this process, it comes the secon(

stage 4here the stu(ie( mo"ements pattern then 4ill be(i"i(e( into motion sequences or phases% The mo"ement pattern is (i"i(e( into simple mo"ement such as s4inging leg, bo(y lifting etc% The pattern create( is then store( in ?A$%

Each of these motion sequences 4ill be a(0uste( accor(ing tothe suitability an( limits of the patients bo(y% )inally in ?A$,the motion phases 4ill be combine( together to form specificmotions such as 4al#ing an( sitting% As a results, patients 4ho4ear ?A$ e3os#eleton 4ill be able to perform full motionsuch as 4al#ing in an autonomous 4ay% An e3ample of motion

pattern is sho4n belo4%;*<

)ig% =% Wal#ing Motion

Conclu%ion

The (e"elopment of 4earable robots is "ery important in

forthcoming future as it may benefits most of to(ayFsgeneration especially those that belongs in physically (isable

group of people% 'ase( on its abilities mentione( in the pre"ious applications before, it comprise( of + "ital human

part of 4hich it may assist greatly% As for the first application, the e3os#eleton bionic suit 4as

able to assist mo"ement for people 4ho suffere( either partialor complete paralysis% This mo(ern engineering brea#throughis the most significant in me(ical history since no4 4e 4ere

able to restore hope for the (isable to finally 4al# once again4ithout fully (epen(ent on 4heelchair or the assist of anothernormal person% )or the the secon( part 4as about fingers part%

M8 0oint fle3ion (e"elope( 4as able to gi"e the formerabilities of the patients to control the mo"ement of finger asthe finger is the "ital part to apply forces in or(er to gripsomething tightly%

Ac&no'led$e(entThis 4or# 4as supporte( by the Technology nno"ation

8rogram9--+@*G, De"elopment of centre to support o$Tin(ustry an( infrastructures: fun(e( by the MKEKET,

Korea%

functional bo(y mo"ements arerecor(e(

recor(e( motions are (i"i(e(

an( arrange into sequence then

store( in ?A$

?A$ combine motion phases or sequences together to obtain the

autonomous motion



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;@< httpL444%hemihelp%org%u#hemiplegia4hat1is1hemiplegia

;*< ?iroa#i Ka4amoto, Tomohiro ?ayashi, Ta#eru Sa#urai, Kiyoshi

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http://www.timesofmalta.com/articles/view/20110311/business/robot-suit-offers-glimmer-of-hope-to-the-paralysed


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Wearable Robot the Zqrqqron 26april (1)