Optimization of the exoskeleton's power system and sensor- actuator mechanisms for arms

现有的外骨骼臂通常具有许多缺点，包括：高成本、过重、高功耗、仅容纳慢动作、笨重的包装和缺乏人体工程学、由于大量布线而导致的有限的可操作性以及缺乏用于数据处理的用户友好的人机界面。这些外骨骼的控制和稳定性的具体挑战是：在运动的不同阶段期间在3维中的静态和动态稳定性，由于大量的致动自由度而导致的计算昂贵的控制算法，这导致控制复杂性、设备的高成本和高功耗，具有最大透明度和系统增强的触觉接口控制，透明性，以尽可能给用户与外骨骼交互的真实感。拟议项目的目标是提高外骨骼的电源系统以及传感器-致动器机制的性能，这些机制共同构成外骨骼的驱动平台。拟议的工作将通过机械和传感器优化以及开发合适的动力系统来提高外骨骼的性能。其目的是提供一种电池供电、电机驱动的机器人双手，主要用于康复和活动性增强。该产品通过各种传感器的组合来促进与健康个体相似的模式。该机器人展示了一种旨在改善截瘫和中风患者或老年人康复和恢复的技术。作为辅助或授权外骨骼，它也可以用于军事和采矿业。在这些应用中，目的是增强人力，以允许操纵重负载和执行体力繁重的工作。

The existing Exoskeleton arms in general suffer from a number of drawbacks including: High cost, Excessive weight, High power consumption, Accommodate only slow motion, Bulky packaging and lack of ergonomics, Limited maneuverability due to high volume of wiring and Lack of user friendly Human-Machine Interfaces for data handling.The specific challenges to control and stability for these exoskeletons are: Static and dynamic stability in 3 dimensions during different phases of motion, Computationally expensive control algorithms due to the large number of actuated degrees of freedom which results in control complexity, high cost of the device, and high power consumption, Haptic interface control with maximum transparency and enhancement of the system, transparency to give the user realistic sense of interaction with the Exoskeletons as possible. The goal of the proposed project is to enhance the performance of the exoskeleton's power supply system as well as the sensor-actuator mechanisms that, together, form the driving platform of the Exoskeleton. The proposed work will improve performance for the Exoskeletons through mechanic and sensor optimization, and development of suitable power systems. The intention is to have a battery powered, motor driven, robotic pair of hands intended primarily for use in rehabilitation and mobility enhancement. The product works through a combination of various sensors to promote a pattern that is similar to that of healthy individuals. The robotrepresents a technology that aims to improve rehabilitation and recovery of individuals with paraplegia and stroke, or older people. As assistive or empowering exoskeletons, it could also be used in military and mining industry. In such applications, the aim is to enhance human power to allow manipulation of heavy loads and performing physically strenuous works.