Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications

The purpose of this work is to optimize the rigid or compliant behavior of a new type of parallel-actuated robot architecture developed for exoskeleton robot applications. This is done in an effort to provide those that utilize the architecture with the means to maximize, minimize, or simply adjust...

Full description

Bibliographic Details
Main Authors: Justin Hunt, Hyunglae Lee
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-02-01
Series:Frontiers in Robotics and AI
Subjects:
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.596958/full
_version_ 1818410198994255872
author Justin Hunt
Hyunglae Lee
author_facet Justin Hunt
Hyunglae Lee
author_sort Justin Hunt
collection DOAJ
description The purpose of this work is to optimize the rigid or compliant behavior of a new type of parallel-actuated robot architecture developed for exoskeleton robot applications. This is done in an effort to provide those that utilize the architecture with the means to maximize, minimize, or simply adjust its stiffness property so as to optimize it for particular tasks, such as augmented lifting or impact absorption. This research even provides the means to produce non-homogeneous stiffness properties for applications that may require non-homogeneous dynamic behavior. In this work, the new architecture is demonstrated in the form of a shoulder exoskeleton. An analytical stiffness model for the shoulder exoskeleton is created and validated experimentally. The model is then used, along with a method of bounded nonlinear multi-objective optimization to configure the parallel substructures for desired rigidity, compliance or nonhomogeneous stiffness behavior. The stiffness model and its optimization can be applied beyond the shoulder to any embodiment of the new parallel architecture, including hip, wrist and ankle robot applications. In order to exemplify this, we present the rigidity optimization for a theoretical hip exoskeleton.
first_indexed 2024-12-14T10:11:43Z
format Article
id doaj.art-9571c75a444f46fa96de75e2f7258cb6
institution Directory Open Access Journal
issn 2296-9144
language English
last_indexed 2024-12-14T10:11:43Z
publishDate 2021-02-01
publisher Frontiers Media S.A.
record_format Article
series Frontiers in Robotics and AI
spelling doaj.art-9571c75a444f46fa96de75e2f7258cb62022-12-21T23:06:59ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-02-01810.3389/frobt.2021.596958596958Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot ApplicationsJustin HuntHyunglae LeeThe purpose of this work is to optimize the rigid or compliant behavior of a new type of parallel-actuated robot architecture developed for exoskeleton robot applications. This is done in an effort to provide those that utilize the architecture with the means to maximize, minimize, or simply adjust its stiffness property so as to optimize it for particular tasks, such as augmented lifting or impact absorption. This research even provides the means to produce non-homogeneous stiffness properties for applications that may require non-homogeneous dynamic behavior. In this work, the new architecture is demonstrated in the form of a shoulder exoskeleton. An analytical stiffness model for the shoulder exoskeleton is created and validated experimentally. The model is then used, along with a method of bounded nonlinear multi-objective optimization to configure the parallel substructures for desired rigidity, compliance or nonhomogeneous stiffness behavior. The stiffness model and its optimization can be applied beyond the shoulder to any embodiment of the new parallel architecture, including hip, wrist and ankle robot applications. In order to exemplify this, we present the rigidity optimization for a theoretical hip exoskeleton.https://www.frontiersin.org/articles/10.3389/frobt.2021.596958/fullParallel actuationparallel mechanismexoskeleton roboticsshoulder exoskeletonstiffness optimizationcompliant optimization
spellingShingle Justin Hunt
Hyunglae Lee
Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
Frontiers in Robotics and AI
Parallel actuation
parallel mechanism
exoskeleton robotics
shoulder exoskeleton
stiffness optimization
compliant optimization
title Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
title_full Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
title_fullStr Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
title_full_unstemmed Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
title_short Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications
title_sort optimizing the rigid or compliant behavior of a novel parallel actuated architecture for exoskeleton robot applications
topic Parallel actuation
parallel mechanism
exoskeleton robotics
shoulder exoskeleton
stiffness optimization
compliant optimization
url https://www.frontiersin.org/articles/10.3389/frobt.2021.596958/full
work_keys_str_mv AT justinhunt optimizingtherigidorcompliantbehaviorofanovelparallelactuatedarchitectureforexoskeletonrobotapplications
AT hyunglaelee optimizingtherigidorcompliantbehaviorofanovelparallelactuatedarchitectureforexoskeletonrobotapplications