Development of a 4-DoF Active Upper Limb Orthosis

In this paper, the designs and manufacturing process of a powered upper limb orthosis are presented. The orthosis is an exoskeleton worn on one arm by the user and fixed to the trunk. The orthosis’ architecture, design, and manufacturing process are presented and discussed. Estimations of the ranges of movement related to daily living activities are presented. The preliminary tests to verify the functionality of the design show encouraging results

Use of MMG signals for the control of powered orthotic devices: Development of a rectus femoris measurement protocol

Copyright © 2009 Rehabilitation Engineering and Assistive Technology Society (RESNA). This is an Author's Accepted Manuscript of an article published in Assistive Technology, 21(1), 1 - 12, 2009, copyright Taylor & Francis, available online at: http://www.tandfonline.com/10.1080/10400430902945678.A test protocol is defined for the purpose of measuring rectus femoris mechanomyographic (MMG) signals. The protocol is specified in terms of the following: measurement equipment, signal processing requirements, human postural requirements, test rig, sensor placement, sensor dermal fixation, and test procedure. Preliminary tests of the statistical nature of rectus femoris MMG signals were performed, and Gaussianity was evaluated by means of a two-sided Kolmogorov-Smirnov test. For all 100 MMG data sets obtained from the testing of two volunteers, the null hypothesis of Gaussianity was rejected at the 1%, 5%, and 10% significance levels. Most skewness values were found to be greater than 0.0, while all kurtosis values were found to be greater than 3.0. A statistical convergence analysis also performed on the same 100 MMG data sets suggested that 25 MMG acquisitions should prove sufficient to statistically characterize rectus femoris MMG. This conclusion is supported by the qualitative characteristics of the mean rectus femoris MMG power spectral densities obtained using 25 averages

Stability analysis of a pneumatically actuated inverted pendulum

This paper deals with the stabilization of an inverted pendulum on cart; the latter is pneumatically actuated by a double acting cylinder controlled by low cost proportional valves. In particular, a numerical model of whole system is developed in order to find the ability of the pneumatic actuation in stabilizing the pendulum and evaluate its bandwidth. A cascade of two control loops (the inner one for the pendulum angle, the outer one for the cart displacement) are analyzed and proper compensators are defined. The possibility of introducing an additional loop to control the force exerted by the actuator on the cart is evaluated

An aerostatic pad with an internal pressure control

Because of their almost zero friction and wear, aerostatic pads are widely used in applications where very precise positioning is required. However, this kind of bearing suffers from poor damping and low specific stiffness. This paper presents a new compensation strategy to increase air pad stiffness. This method exploits a custom-built pneumatic valve which can be easily integrated with any commercial pad. The design and the working principle of the proposed system are described and studied with the aid of a lumped parameter model. The effectiveness of the proposed compensation is numerically and experimentally evaluated. The results demonstrate that the solution represents a good and cost-effective method to enhance the static stiffness of aerostatic pads

A procedure for the fatigue life prediction of straight fibers pneumatic muscles

Different from the McKibben pneumatic muscle actuator, the straight fibers one is made of an elastomeric tube closed at the two ends by two heads that ensure a mechanical and pneumatic seal. High stiffness threads are placed longitudinally into the wall of the tube while external rings are placed at some sections of it to limit the radial expansion of the tube. The inner pressure in the tube causes shortening of the actuator. The working mode of the muscle actuator requires a series of critical repeated contractions and extensions that cause it to rupture. The fatigue life duration of a pneumatic muscle is often lower than traditional pneumatic actuators. The paper presents a procedure for the fatigue life prediction of a straight-fibers muscle based on experimental tests directly carried out with the muscles instead of with specimens of the silicone rubber material which the muscle is made of. The proposed procedure was experimentally validated. Although the procedure is based on fatigue life duration data for silicone rubber, it can be extended to all straight-fibers muscles once the fatigue life duration data of any material considered for the muscles is known

Unbalance Response Analysis of a Spindle Supported on Gas Bearings: A Comparison between Different Approaches

Gas journal bearings are widely employed in high-speed spindles for the micromachining industry. Compared to their oil and rolling counterparts, gas bearings have a longer life span, lower friction and a lower level of noise. In order to design accurate high-speed spindles supported by externally pressurized gas bearings, it is vital to analyze the characteristics of rotor bearing systems. In this paper, we present an analysis of the unbalance response of a high-speed spindle supported by gas journal bearings. A number of aspects to enhance the accuracy of the system are discussed. We performed the analysis by considering a nonlinear and a linearized numerical model validated through experimental measurements

On the Design of a Diaphragm Valve for Aerostatic Bearings

Because of their almost zero friction, cleanness and long life, aerostatic bearings are commonly used in many applications where high precision of positioning is required, e.g. machine tools, measuring machines, semiconductor manufacturing and power board testing. However, air bearings suffer from low relative stiffness and poor damping. Active and passive compensation are two effective methods to enhance the static and dynamic performance of these kinds of bearings. Despite their higher performance, active compensation solutions are too expensive to be used in industrial applications, as a consequence of the costs related to their controllers, actuators and sensors. This paper presents the design and performance of a passive compensation method that exploits a diaphragm valve. Thanks to its ease of integration, satisfactory performance and relatively low cost, this method could be a valuable solution to increasing the stiffness of aerostatic bearings. This work provides a procedure to design diaphragm valves depending on the type of the integrated pad and the desired nominal air gap height. Results demonstrate that, once correctly designed, the diaphragm valve makes it possible to obtain bearings with quasi-static infinite stiffness at the selected air gap height

Air Pad Controlled by Means of a Diaphragm-Valve: Static and Dynamic Behaviour

This paper presents the analysis of the static and dynamic performance of a passively compensated air pad. The proposed method consists in the integration of a custom-built diaphragm valve and a commercial aerostatic pad. A lumped model is used to simulate the static and dynamic performance of the pad. Results demonstrate that the proposed method is very effective when the system works with excitation frequencies below 10 Hz

Remote control of a robotic hand using a leap sensor

This paper presents a low-cost gesture-based remote control of a ro-botic hand. The proposed control architecture is based on a commercial leap motion sensor and an Arduino board, which have been chosen due to their low-cost and user-friendly features. A specific Matlab code has been implemented to collect data from the leap motion sensor and to generate proper instructions to control a robotic hand, which has been 3D print at Sheffield Hallam Univer-sity. Experimental tests have been carried out validate the effectiveness of the proposed remote control for performing various grasping tasks