Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot
Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot
复制标题
MAHI 开放式外骨骼上肢机器人的设计、表征和动态仿真
DOI：
10.1109/tmech.2022.3175507
复制
发表时间：
2022-06-03
影响因子：
6.4
通讯作者：
Omalley, Marcia K.
中科院分区：
文献类型：
--
作者：
Dunkelberger, Nathan;Berning, Jeffrey;Omalley, Marcia K.
中风和脊髓损伤在美国变得越来越普遍。最近的研究表明，康复机器人有可能通过提供基于重复的运动治疗平台来积极影响康复过程。为了推进这一领域的发展，机器人康复的未来研究方向集中在先进的基于模型的控制算法，以及机器人技术与尖端神经调节技术的结合。这些方法需要的设备，不仅具有运动学和动力学特性非常适合基于模型的控制，但也需要设备，允许容易放置的传感器和电极的肢体插入时，在机器人。考虑到这些设计目标，我们提出了MAHI开放式外骨骼，这是一种具有开放式机械结构和简化动力学的四自由度机器人，与开源软件相结合，为先进的基于模型的控制奠定了基础。每个关节的动态特性进行了表征，并与其他最近开发的康复机器人。为机器人开发了开源软件，为用户提供低级和应用程序级接口，以实现各种控制策略。开发了动态方程，并将其实施为具有可视化的实时模拟，包括与开发的软件库的无缝接口。阻抗控制和模型预测控制的实施和比较的仿真，证明了新的设计的价值。
Stroke and spinal cord injury are becoming ever more prevalent in the United States. Recent research has shown that rehabilitation robots have the potential to positively impact the rehabilitation process by providing a platform for repetition-based movement therapy. To advance the field, future research directions for robotic rehabilitation are focused on advanced model-based control algorithms, and the combination of robotics with cutting-edge neuromodulation technologies. These approaches necessitate devices that not only feature kinematic and dynamic properties well-suited for model-based control, but also require devices that allow for easy placement of sensors and electrodes on the limb when inserted in the robot. With these design goals in mind, we present the MAHI Open Exoskeleton, a four-degree-of-freedom robot with an open mechanical structure and simplified dynamics, combined with open-source software, that together lay the groundwork for advanced model-based control. The dynamic properties of each joint were characterized and compared against other recently developed rehabilitation robots. Open-source software was developed for the robot, which provides users with both low-level and application-level interfaces to implement a variety of control strategies. Dynamic equations were developed and implemented into a real-time simulation with a visualization, including a seamless interface to the developed software library. Impedance control and model predictive control were implemented and compared to the simulation, proving the value of the new designs.