Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton
Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/12/4559 |
| _version_ | 1797482390213361664 |
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| author | John Calle-Siguencia Mauro Callejas-Cuervo Sebastián García-Reino |
| author_facet | John Calle-Siguencia Mauro Callejas-Cuervo Sebastián García-Reino |
| author_sort | John Calle-Siguencia |
| collection | DOAJ |
| description | Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems. |
| first_indexed | 2024-03-09T22:31:38Z |
| format | Article |
| id | doaj.art-2bca3cd172b74747ab573a849785c95e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T22:31:38Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-2bca3cd172b74747ab573a849785c95e2023-11-23T18:55:18ZengMDPI AGSensors1424-82202022-06-012212455910.3390/s22124559Integration of Inertial Sensors in a Lower Limb Robotic ExoskeletonJohn Calle-Siguencia0Mauro Callejas-Cuervo1Sebastián García-Reino2GIIB Research Department, Universidad Politécnica Salesiana, Cuenca 010102, EcuadorSoftware Research Group, Engineering Department, Universidad Pedagógica y Tecnológica de Colombia, Tunja 150003, ColombiaGIIB Research Department, Universidad Politécnica Salesiana, Cuenca 010102, EcuadorMotion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems.https://www.mdpi.com/1424-8220/22/12/4559actuatorsexoskeletoninertial sensorsImocap-GISmotion cycleUDP protocol |
| spellingShingle | John Calle-Siguencia Mauro Callejas-Cuervo Sebastián García-Reino Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton Sensors actuators exoskeleton inertial sensors Imocap-GIS motion cycle UDP protocol |
| title | Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton |
| title_full | Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton |
| title_fullStr | Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton |
| title_full_unstemmed | Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton |
| title_short | Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton |
| title_sort | integration of inertial sensors in a lower limb robotic exoskeleton |
| topic | actuators exoskeleton inertial sensors Imocap-GIS motion cycle UDP protocol |
| url | https://www.mdpi.com/1424-8220/22/12/4559 |
| work_keys_str_mv | AT johncallesiguencia integrationofinertialsensorsinalowerlimbroboticexoskeleton AT maurocallejascuervo integrationofinertialsensorsinalowerlimbroboticexoskeleton AT sebastiangarciareino integrationofinertialsensorsinalowerlimbroboticexoskeleton |