Design and control of linkage exoskeletons in wheelchair

Gao Huang; Marco Ceccarelli; Weimin M. Zhang; Fei Meng; Tao Sun; Qiang Huang

doi:10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair

Gao Huang, Marco Ceccarelli, Weimin M. Zhang^*, Fei Meng, Tao Sun, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

Original language	English
Title of host publication	Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
Editors	Carlo Ferraresi, Giuseppe Quaglia
Publisher	Springer Netherlands
Pages	862-869
Number of pages	8
ISBN (Print)	9783319612751
DOIs	https://doi.org/10.1007/978-3-319-61276-8_91
Publication status	Published - 2018
Event	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, Italy Duration: 21 Jun 2017 → 23 Jun 2017

Publication series

Name	Mechanisms and Machine Science
Volume	49
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
Country/Territory	Italy
City	Turin
Period	21/06/17 → 23/06/17

Keywords

Experiment
Leg exoskeletons
Master-slave control
Pedal-actuated wheelchair

Access to Document

10.1007/978-3-319-61276-8_91

Cite this

Huang, G., Ceccarelli, M., Zhang, W. M., Meng, F., Sun, T., & Huang, Q. (2018). Design and control of linkage exoskeletons in wheelchair. In C. Ferraresi, & G. Quaglia (Eds.), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (pp. 862-869). (Mechanisms and Machine Science; Vol. 49). Springer Netherlands. https://doi.org/10.1007/978-3-319-61276-8_91

Huang, Gao ; Ceccarelli, Marco ; Zhang, Weimin M. et al. / Design and control of linkage exoskeletons in wheelchair. Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. editor / Carlo Ferraresi ; Giuseppe Quaglia. Springer Netherlands, 2018. pp. 862-869 (Mechanisms and Machine Science).

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title = "Design and control of linkage exoskeletons in wheelchair",

abstract = "In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user{\textquoteright}s safety. Regarding the master-slave control, the user{\textquoteright}s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.",

keywords = "Experiment, Leg exoskeletons, Master-slave control, Pedal-actuated wheelchair",

author = "Gao Huang and Marco Ceccarelli and Zhang, {Weimin M.} and Fei Meng and Tao Sun and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG.; 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 ; Conference date: 21-06-2017 Through 23-06-2017",

year = "2018",

doi = "10.1007/978-3-319-61276-8_91",

language = "English",

isbn = "9783319612751",

series = "Mechanisms and Machine Science",

publisher = "Springer Netherlands",

pages = "862--869",

editor = "Carlo Ferraresi and Giuseppe Quaglia",

booktitle = "Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017",

address = "Netherlands",

}

Huang, G, Ceccarelli, M, Zhang, WM, Meng, F, Sun, T & Huang, Q 2018, Design and control of linkage exoskeletons in wheelchair. in C Ferraresi & G Quaglia (eds), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, vol. 49, Springer Netherlands, pp. 862-869, 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, Italy, 21/06/17. https://doi.org/10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair. / Huang, Gao; Ceccarelli, Marco; Zhang, Weimin M. et al.
Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. ed. / Carlo Ferraresi; Giuseppe Quaglia. Springer Netherlands, 2018. p. 862-869 (Mechanisms and Machine Science; Vol. 49).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and control of linkage exoskeletons in wheelchair

AU - Huang, Gao

AU - Ceccarelli, Marco

AU - Zhang, Weimin M.

AU - Meng, Fei

AU - Sun, Tao

AU - Huang, Qiang

PY - 2018

Y1 - 2018

N2 - In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

AB - In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

KW - Experiment

KW - Leg exoskeletons

KW - Master-slave control

KW - Pedal-actuated wheelchair

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ER -

Huang G, Ceccarelli M, Zhang WM, Meng F, Sun T, Huang Q. Design and control of linkage exoskeletons in wheelchair. In Ferraresi C, Quaglia G, editors, Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer Netherlands. 2018. p. 862-869. (Mechanisms and Machine Science). doi: 10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair

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Keywords

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