Online adaptive resistance control of an arm exercise exoskeleton

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Resistance training is an effective means of strengthening musculoskeletal capabilities; thereby preventing musculoskeletal disorders (MSDs). However, most existing exoskeletons fail to provide active and affordable resistance training. To address this problem, we develop a resistance-as-needed (RAN) controller and an arm exercise (RISE) exoskeleton for resistance training. The exoskeleton is designed and manufactured in a portable, lightweight (0.425 kg), and 3D print manner. Such control adaptability and design portability are facilitated by the RAN controller whose implementation relies only on internal (e.g., joint position) sensing, rather than external (i.e., EMG, electromyography) sensing and physical compliant mechanisms (e.g., springs). The active resistance torque to the RISE exoskeleton is generated by the RAN controller, in which impedance gains Kp and Kd are online tuned. As a result, the RAN controller enables the RISE exoskeleton to produce more adaptive and effective resistance motions that lead to higher training efficiency, compared to conventional constant impedance controllers. The proposed RAN controller and designed RISE exoskeleton pave a way for providing portable and affordable resistance training.

Original languageEnglish
Title of host publicationRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
EditorsValery G. Gradetsky, Mohammad Osman Tokhi, Nikolay N. Bolotnik, Manuel Silva, Gurvinder S. Virk
PublisherCLAWAR Association Ltd
Publication date2020
Pages31-38
ISBN (Print)9781916449046
DOIs
Publication statusPublished - 2020
Event23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020 - Moscow, Russian Federation
Duration: 24. Aug 202026. Aug 2020

Conference

Conference23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
Country/TerritoryRussian Federation
CityMoscow
Period24/08/202026/08/2020

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