A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Ugurlu, Barkan and Acer, Merve and Barkana, Duygun E. and Gocek, Ikilem and Kucukyilmaz, Ayse and Arslan, Yunus Z. and Basturk, Halil and Samur, Evren and Ugur, Emre and Unal, Ramazan and Bebek, Ozkan (2019) A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance. In: IEEE 16th International Conference on Rehabilitation Robotics (ICORR).

Full content URL: http://doi.org/10.1109/ICORR.2019.8779394

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A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance
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Abstract

In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the
integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.

Keywords:Robotic rehabilitation, Exoskeleton device, Robotics, Control Systems, Physical rehabilitation, Soft robotics, Human-robot interaction
Subjects:H Engineering > H300 Mechanical Engineering
H Engineering > H671 Robotics
H Engineering > H670 Robotics and Cybernetics
H Engineering > H320 Mechanisms and Machines
Divisions:College of Science > School of Computer Science
ID Code:36661
Deposited On:07 Aug 2019 09:57

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