Exosquelette motorisé

Résumé

vignette|Mannequin présentant le concept d'exosquelette motorisé tel qu'imaginé par l'armée américaine L'exosquelette motorisé ou combinaison robotique est un dispositif mécatronique à base fixe ou mobile, composé d'une structure mécanique à plusieurs degrés de liberté, d'un système d'actionnement (électrique, hydraulique ou pneumatique) utilisant une source d'énergie embarquée ou déportée, et de cartes électroniques de puissance et de commande, que revêt un individu, à la manière d'un vêtement robotisé ou d'une prothèse externe (ou encore d'une cyberthèse), pour lui permettre de démultiplier ses capacités physiques (amplification), de simuler un retour d'effort dans un environnement virtuel (immersion), de rééduquer son système musculosquelettique (réhabilitation), de contrôler à distance des systèmes robotiques (téléopération) et éventuellement de le protéger de son environnement (à la manière d'une carapace ou d'un gilet pare-balle). L'inconvénient majeur des systèmes à base fixe e

Source officielle

https://fr.wikipedia.org/wiki/Exosquelette_motoris%C3%A9

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Design and Characterization of a Lightweight and Fully Portable Remote Actuation System for Use With a Hand Exoskeleton

Jumpei Arata, Roger Gassert, Olivier Lambercy

Enabling individuals who are living with reduced mobility of the hand to utilize portable exoskeletons at home has the potential to deliver rehabilitation therapies with a greater intensity and relevance to activities of daily living. Various hand exoskeleton designs have been explored in the past, however, devices have remained nonportable and cumbersome for the intended users. Here we investigate a remote actuation system for wearable hand exoskeletons, which moves weight from the weakened limb to the shoulders, reducing the burden on the user and improving portability. A push-pull Bowden cable was used to transmit actuator forces from a backpack to the hand with strict attention paid to total system weight, size, and the needs of the target population. We present the design and integration of this system into a previously presented hand exoskeleton, as well as its characterization. Integration of remote actuation reduced the exoskeleton weight by 56% to 113g without adverse effects to functionality. Total actuation system weight was kept to 754g. The loss of positional accuracy inherent with Bowden cable transmissions was compensated for through closed loop positional control of the transmission output. The achieved weight reduction makes hand exoskeletons more suitable to the intended user, which will permit the study of their effectiveness in providing long duration, high intensity, and targeted rehabilitation as well as functional assistance.

2016

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Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less endurance before pain or exhaustion, inability to climb stairs, or even the permanent use of a wheelchair. This may make reaching remote places difficult, prevents from practicing some sportive activities, and limit the chances of social interaction. Robotic exoskeletons have been introduced recently to assist the gait. The control of such devices should be addressed with care, because of the interaction with the human user, which makes part of the system unpredictable or at least difficult to model. This PhD thesis report explores the broad range of existing control methods that are currently disseminated in the literature. All these references have been sorted with a novel classification that categorizes the subparts of an algorithm, instead of considering the entire one. This rational overview contribute to understanding what was already tried, and what is missing to the state of the art. Then, the developed modular control platformis described. This platform allowed sharing electronicmodules and software between all the devices and provided a consistent and efficient development experience. It could handle all eight exoskeletons of the laboratory, even though their hardware was never the same. Fully embedded and with a convenient development interface, it allowed testing efficiently in the field. The case of the fullmobilization for paraplegic users was tackled with the exoskeleton TWIICE, intended for personal use. A controller based on operating modes was implemented and allowed its user to walk again and overcome many types of obstacles of daily living, autonomously. This controller made TWIICE the current best performer for the "Powered Exoskeletons Race" category of the CYBATHLON competition, able to overcome all the six obstacles. A variant, WIITE, enabled another paraplegic user to practice ski touring in snowy mountains. This showed a use-case with a similar handicap, but a totally different need. TWIICE is sagitally constrained, is actuated at the hip and knee joints only and has a locked ankle, to be lightweight and cost-effective. Crutches are then required to maintain the user’s balance, which prevents using the arms for interaction with the surrounding environment. A controller performing dynamic balance with such hardware would be too complicated and probably not robust enough. A suggested acceptable trade-off was to let the user use freely his arms for interactions only while standing still and use normally the crutches while walking. The controller was biologically inspired, from healthy participants trying to keep standing dynamically in a passive constraining exoskeleton, called INSPIIRE. Dynamic standing balance control was successfully assessed with a complete paraplegic user wearing TWIICE. Finally, partial assistance techniques have been investigated. First, in running using SPRIINT, a unilateral hip orthosis to assist a transfemoral amputeed user. Second, the endurance augmentation in walking was also studied with HiBSO, a bilateral hip exoskeleton. A novel assistance controller was developed, able to immediately assist, from the beginning of the first step.

EPFL2020

Chargement

Mobility impairments are the most prevalent of all disabilities, affecting the life of nearly one in 20 individuals in developed countries. In the most severe cases, they can have dramatic consequences for the social, mental and physical well-being of those impacted. Wearable robots, also known as exoskeletons, are devices that can physically help humans achieve certain tasks by compensating a disability or augmenting their capacity. Such devices have already proven to temporarily restore some physical function such as the ability to walk for individuals who had suffered a spinal cord injury (SCI). As of today, their limited performance has however prevented them from being widely accepted and used in community. Their high cost, bulkiness, weight, poor usability and limited intelligence are often regarded as a cause. Exoskeleton research and development faces several challenges which have so far limited adoption, whether in the medical field or not. These challenges include the unpredictable and complex nature of human users; the important diversity of their pathologies and needs; the long cycles inherent to hardware development and patient testing; together with the difficulty to compare devices' design and mode of action. In an attempt to cope with these challenges, this thesis introduces the lean synthesis framework. It draws on modularity and digital manufacturing to accelerate and reduce the costs of exoskeleton development process. A collection of modules is presented, along with "DualSKin fabrication", a digital fabrication method particularly adapted to the case of wearable robotics, both used by the framework. We tested the framework by developing four lower-limb exoskeletons with different use cases. TWIICE, enabling individuals with a motor-complete SCI to walk again; SPRIINT, for running assistance of individuals with transfemoral amputation; INSPIIRE, for the study of gait and postural control; WIITE, enabling individuals with SCI to perform ski-touring. TWIICE was found to be the lightest exoskeleton capable of climbing stairs and among the fastest of its category. SPRIINT was the first exoskeleton able to assist running in individuals with transfemoral amputation and the fastest exoskeleton for running ever reported. WIITE was the first reported exoskeleton allowing SCI patients to practice ski-touring. INSPIIRE provided important and translatable insights on human gait and postural control. These findings enabled the implementation of a self-balancing controller on TWIICE. The important variety of these use cases exemplifies the diversity addressable by lean synthesis. New device development and fabrication cycles as short as five weeks were possible thanks to a high degree of reusability. Development and manufacturing costs could also be reduced by leveraging on standard components sharing and recycling. The presented DualSkin fabrication method was found to reduce the production costs of prototype structural parts by 93% with respect to CNC machining while remaining competitive for small series up to 500 parts with respect to low-volume injection molding. These findings suggest that the proposed implementation of lean synthesis contributed positively to addressing all of the considered challenges without deteriorating performance. Together, these contributions advocate for lean synthesis as a new tool for both wearable robotics research and product development.

EPFL2019

Chargement

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

EPFL2020

EPFL2019