Variable-stiffness joints with embedded force sensor for high-performance wearable gait exoskeletons
[EN] This PhD thesis aims at advancing beyond the State of the Art in joint actuation systems for gait exoskeletons with the purposes of: enabling joint adaptation to variable symptomatology and improving energy efficiency, and adaptability during walking. By analyzing the biomechanics of locomotion...
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/161798 |
| Acceso en línea: | http://hdl.handle.net/10261/161798 |
| Access Level: | acceso abierto |
| Palabra clave: | Robótica Mecánica Biomecánica Exoskeletons |
| Sumario: | [EN] This PhD thesis aims at advancing beyond the State of the Art in joint actuation systems for gait exoskeletons with the purposes of: enabling joint adaptation to variable symptomatology and improving energy efficiency, and adaptability during walking. By analyzing the biomechanics of locomotion, the characteristics and requirements of the main joints involved in the dynamic locomotion cycle are identified and analyzed. This doctoral work presents the design and development of two novel compliant actuators intended to fulfill the requirements for actuating joint exoskeletons. The main feature of the novel systems is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as force-controlled compliant actuators, these actuators with Adjustable Rigidity and Embedded Sensor, ARES and ARES-XL are intended to be implemented in the joints of the ATLAS pediatric exoskeleton. The resulting device is a force controlled-compliant exoskeleton for children with neuromuscular diseases which allow the exploitation of the intrinsic dynamic during the locomotion cycle. ARES capabilities are presented and evaluated, proving its torque tracking capabilities at different stiffness levels. The versatile operation of the joints such as the knee, could be emulated, and exploited by providing the elements that can control the use of the energy stored in the appropriate phases of the gait. ARES-XL allows the implementation of an add-on locking mechanism to this system, in combination with its zero stiffness capability and large deflection range. The evaluation of the system proves how this design exceeds the main capabilities of the original realization, as well as providing versatile actuation that could lead to its implementation in multiple joints. During this work an assessment of the compliant exoskeleton was performed by walking under certain constrains. Comparing the behavior of the joints under different stiffness conditions, the inherent compliant of the presented actuators showed natural adaptability during the gait cycle, and regions of shock absorption. The work developed in this PhD thesis is expected to continue being implemented in exoskeleton, and robotic prosthetics applications in a research and commercial level. Several publications in relevant journals, and international conferences have been published as a consequence of the research performed during this PhD work. There are currently three patents product of this research, they are being commercially exploited by a SME specialized on robotics for healthcare. Future works will focused in the optimization of the size and weight of the compliant systems, combined with the development and implementation of control strategies adapted to the specific users and environment conditions, for energy efficiency and more natural gaits |
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