Hostname: page-component-848d4c4894-p2v8j Total loading time: 0 Render date: 2024-06-10T13:14:53.595Z Has data issue: false hasContentIssue false
  • English
  • Français

Design, modeling, and control of a novel soft-rigid knee joint robot for assisting motion

Published online by Cambridge University Press:  04 January 2024

Yinan Li ,
Yuxuan Wang Open the ORCID record for Yuxuan Wang [Opens in a new window] ,
Shaoke Yuan  and
Yanqiong Fei Open the ORCID record for Yanqiong Fei [Opens in a new window]
Yinan Li
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
Yuxuan Wang
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
Shaoke Yuan
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
Yanqiong Fei*
Affiliation:
Research Institute of Robotics, Shenzhen Research Institute, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
*
Corresponding author: Yanqiong Fei; Email: fyq_sjtu@163.com
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper presents the design, modeling, and control of a novel soft-rigid knee joint robot (SR-KR) for assisting motion. SR-KR is proposed to assist patients with knee joint injuries conducting gait training and completing walking movements. SR-KR consists of a novel soft-rigid bidirectional curl actuator, a thigh clamping structure, and a crus clamping structure. The actuating part of SR-KR is composed of soft materials, which ensures the wearing comfort and safety, while the wearing parts contain rigid structure, which ensures the efficient transmission of torque. The bending deformation model of SR-KR is established, which reveal the relationship among SR-KR’s bending curvature, working pressure, and output torque. Experiments show that SR-KR can provide more than 26.3 Nm torque for knee joint motion in human gait range. A double closed loop servo control system including attitude servo and pressure servo is built to better apply SR-KR. Mechanical property test, trajectory-driven test, and lower limb wearing test have been conducted, which show that SR-KR has ability to assist in lower limb motion and has potential in the fields of rehabilitation and human enhancement.

Keywords

soft roboticswearable robotdesignmodelingcontrol
Type
Research Article
Information
Robotica , Volume 42 , Issue 3 , March 2024 , pp. 817 - 832
Copyright
© The Author(s), 2024. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Maciejasz, Pł, Eschweiler, Jörg, Gerlach-Hahn, K., Jansen-Troy, A. and Leonhardt, S., “A survey on robotic devices for upper limb rehabilitation,” J. NeuroEng. Rehabil. 11(1), 3 (2014). doi: 10.1186/1743-0003-11-3.Google Scholar
de Looze, M. P., Bosch, T., Krause, F., Stadler, K. S. and O’Sullivan, L. W., “Exoskeletons for industrial application and their potential effects on physical work load,” Ergonomics 59(5), 671–681 (2016). doi: 10.1080/00140139.2015.1081988.Google Scholar
Veale, A. J., Staman, K. and van der Kooij, H., “Soft, wearable, and pleated pneumatic interference actuator provides knee extension torque for sit-to-stand,” Soft Robot. 8(1), 28–43 (2021). doi: 10.1089/soro.2019.0076.Google Scholar
Pons, J. L., Wearable Robot Technologies (John Wiley & Sons, Ltd, New York, 2008) pp. 1–14.Google Scholar
Major, K. A., Major, Z. Z., Carbone, G., Pîslă, A., Vaida, C., Gherman, B. and Pîslă, D. L., “Ranges of motion as basis for robot-assisted poststroke,” HVM Bioflux 8(4), 192–196 (2016).Google Scholar
Ariel, B. G., “Biomechanical Analysis of the Knee Joint During Deep Knee Bends with Heavy Load,” In: Biomechanics IV. International Series on Sport Sciences (Nelson, R. C. and Morehouse, C. A., eds.) (Palgrave, London, 1974) p. 44.Google Scholar
Masiero, S., Armani, M. and Rosati, G., “Upper-limb robot-assisted therapy in rehabilitation of acute stroke patients: Focused review and results of new randomized controlled trial,” J. Rehabil. Res. Dev. 48(4), 355–366 (2011). doi: 10.1682/jrrd.2010.04.0063.Google Scholar
Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J. and Walsh, C. J., “Soft robotic glove for combined assistance and at-home rehabilitation,” Robot Auton. Syst. 73, 135–143 (2015). doi: 10.1016/j.robot.2014.08.014.Google Scholar
Redlarski, G., Blecharz, K., Daxbkowski, M., Pałkowski, A. and Tojza, P. M., Comparative analysis of exoskeletal actuators. Pomiary Automat. Robot. 16, 133–138 (2012)Google Scholar
Schiele, A., “Ergonomics of Exoskeletons: Objective Performance Metrics,” In: World Haptics-Third Joint Eurohaptics Conference & Symposium on Haptic Interfaces for Virtual Environment & Teleoperator Systems (IEEE, 2009).Google Scholar
Kazerooni, H., “A Review of the Exoskeleton and Human Augmentation Technology,” In: ASME Dynamic Systems & Control Conference (2008).Google Scholar
Fang, L., Cheng, W. and Wu, Q., “Research on human exoskeleton based on rigid-flexible coupling system,” Mech. Sci. Technol. Aerosp. Eng. 32(5), 688–692 (2013).Google Scholar
Schiele, A., “Ergonomics of Exoskeletons: Objective Performance Metrics,” In: World Haptics 2009—Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, UT (2009) pp. 103–110.Google Scholar
Browning, R. C., Modica, J. R., Kram, R. and Goswami, A., “The effects of adding mass to the legs on the energetics and biomechanics of walking,” Med. Sci. Sports Exerc. 39(3), 515–525 (2007).Google Scholar
Dinh, B. K., Xiloyannis, M., Antuvan, C. W., Cappello, L. and Masia, L., “Hierarchical cascade controller for assistance modulation in a soft wearable arm exoskeleton,” IEEE Robot. Autom. Lett. 2(3), 1786–1793 (2017). doi: 10.1109/LRA.2017.2668473.Google Scholar
Polygerinos, P., Correll, N., Morin, S. A., Mosadegh, B., Onal, C. D., Petersen, K., Cianchetti, M., Tolley, M. T. and Shepherd, R. F., “Soft robotics: Review of fluid-driven intrinsically soft devices; manufacturing, sensing, control, and applications in human-robot interaction,” Adv. Eng. Mater. 19(12), 1700016 (2017).Google Scholar
Agarwal, G., Besuchet, N., Audergon, B. and Paik, J., “Stretchable materials for robust soft actuators towards assistive wearable devices,” Sci. Rep. 6(1), 34224 (2016).Google Scholar
Asbeck, A. T., De Rossi, S. M. M., Holt, K. G. and Walsh, C. J., “A biologically inspired soft exosuit for walking assistance,” Int. J. Robot. Res. 34(6), 741–765 (2015).Google Scholar
Hassanin, A. F., Steve, D. and Samia, N. M., “A Novel, Soft, Bending Actuator for Use in Power Assist and Rehabilitation Exoskeletons,” In: IEEE International Conference on Intelligent Robots and Systems, Vancouver, BC, Canada (2017) pp. 533–538.Google Scholar
Dorin, C., Enrique, C., Luis, M. and Dolores, B., “New design of a soft robotics wearable elbow exoskeleton based on shape memory alloy wire actuators,” Appl. Bionics. & Biomechan. 2017, 1–11 (2017). doi: 10.1155/2017/1605101.Google Scholar
Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J. and Walsh, C. J., “Soft robotic glove for combined assistance and at-home rehabilitation,” Robot. Auton. Syst. 73(C), 135–143 (2014).Google Scholar
Awad, L. N., Bae, J., O’Donnell, K., De Rossi, S. M. M., Hendron, K., Sloot, L. H., Kudzia, P., Allen, S., Holt, K. G., Ellis, T. D. and Walsh, C. J., “A soft robotic exosuit improves walking in patients after stroke,” Sci. Transl. Med. 9(400), eaai9084 (2017). doi: 10.1126/scitranslmed.aai9084.Google Scholar
Thalman, C. M., Lam, Q. P., Nguyen, P. H., Sridar, S. and Polygerinos, P., “A Novel Soft Elbow Exosuit to Supplement Bicep Lifting Capacity,” In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain (2018) pp. 6965–6971. doi: 10.1109/IROS.2018.8594403.Google Scholar
Fang, J., Yuan, J., Wang, M., Xiao, L., Yang, J., Lin, Z., Xu, P. and Hou, L., “Novel accordion-inspired foldable pneumatic actuators for knee assistive devices,” Soft Robot. 7(1), 95–108 (2020). doi: 10.1089/soro.2018.0155.Google Scholar
Sridar, S., Nguyen, P. H., Zhu, M., Lam, Q. P. and Polygerinos, P., “Development of a Soft-Inflatable Exosuit for Knee Rehabilitation,” In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada (2017) pp. 3722–3727. doi: 10.1109/IROS.2017.8206220.Google Scholar
O’Neill, C. T., McCann, C. M., Hohimer, C. J., Bertoldi, K. and Walsh, C. J., “Unfolding textile-based pneumatic actuators for wearable applications,” Soft Robot. 9(1), 163–172 (2022). doi: 10.1089/soro.2020.0064.Google Scholar
Wang, J., Fei, Y. and Chen, W., “Integration, sensing, and control of a modular soft-rigid pneumatic lower limb exoskeleton,” Soft Robot. 7(2), 140–154 (2020). doi: 10.1089/soro.2019.0023.Google Scholar
Huang, W. C., Feng, M., Yang, D. Z. and Gu, G. Y., “Low-resistance, high-force, and large-ROM fabric-based soft elbow exosuits with adaptive mechanism and composite bellows,” Sci. China Technol. Sci. 66(1), 24–32 (2023). doi: 10.1007/s11431-022-2233-3.Google Scholar
Chung, J., Heimgartner, R., O’Neill, C. T., Phipps, N. S. and Walsh, C. J., “ExoBoot, a Soft Inflatable Robotic Boot to Assist Ankle During Walking: Design, Characterization and Preliminary Tests,” In: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), Enschede, Netherlands (2018) pp. 509–516. doi: 10.1109/BIOROB.2018.8487903.Google Scholar
Hasan, I. M., Yumbla, E. Q. and Zhang, W., “Development of a Soft Inflatable Exosuit for Knee Flexion Assistance,” In: 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Seoul, Republic of Korea (2022) pp. 1–6. doi: 10.1109/BioRob52689.2022.9925474.Google Scholar
Kadaba, M. P., Ramakrishnan, H. K., Wootten, M. E., Gainey, J., Gorton, G. and Cochran, G. V., “Repeatability of kinematic, kinetic, and electromyographic data in normal adult gait,” J. Orthop. Res. 7(6), 849–860 (1989). doi: 10.1002/jor.1100070611.Google Scholar
Nagura, T., Dyrby, C. O., Alexander, E. J. and Andriacchi, T. P., “Mechanical loads at the knee joint during deep flexion,” J. Orthop. Res. 20(4), 881–886 (2002).Google Scholar
Nordez, A., Casari, P. and Cornu, C., “Accuracy of Biodex system 3 pro computerized dynamometer in passive mode,” Med. Eng. Phys. 30(7), 880–887 (2008). doi: 10.1016/j.medengphy.2007.11.001.Google Scholar
Yang, Y., Chen, Y., Li, Y., Wang, Z. and Li, Y., “Novel variable-stiffness robotic fingers with built-in position feedback,” Soft Robot. 4(4), 338–352 (2017). doi: 10.1089/soro.2016.0060.Google Scholar
Tedaldi, D., Pretto, A. and Menegatti, E., “A Robust and Easy to Implement Method for IMU Calibration without External Equipments,” In: 2014 IEEE International Conference on Robotics and Automation (ICRA) (2014) pp. 3042–3049. doi: 10.1109/ICRA.2014.6907297.Google Scholar