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Movement Intent Detection for Upper-Limb Rehabilitation Exoskeleton Based on Series Elastic Actuator as Force Sensor

Authors :
Yukio Rosales-Luengas
Daniel Centeno-Barreda
Sergio Salazar
Jonathan Flores
Rogelio Lozano
Source :
Actuators, Vol 13, Iss 8, p 284 (2024)
Publication Year :
2024
Publisher :
MDPI AG, 2024.

Abstract

In this paper, serial elastic actuators (SEAs) in conjunction with an accelerometer are proposed as force sensors to detect the intention of movement, and the SEA is proposed as a gentle actuator of a patient’s upper-limb exoskeleton. A smooth trajectory is proposed to provide comfortable performance. There is an offset trajectory between the link and the motor, which increases safety by preventing sudden movements, and the offset is equivalent to the torsional elastic spring constant. The proposed control law is based on a backstepping approach tested in real-time experiments with robust results in a 2-DoF upper-limb rehabilitation exoskeleton. The experimental results showed a sensitivity of 100% and a positive predictive value of 97.5% for movement intention detection.

Details

Language :
English
ISSN :
20760825
Volume :
13
Issue :
8
Database :
Directory of Open Access Journals
Journal :
Actuators
Publication Type :
Academic Journal
Accession number :
edsdoj.fa84c8cf67d43688d75f4a3bd803f04
Document Type :
article
Full Text :
https://doi.org/10.3390/act13080284