- Volume 21 Issue 6
DOI QR Code
Rotational Twisted String Actuator with Linearized Output for a Wearable Exoskeleton
입는 외골격 로봇을 위한 선형화된 출력을 갖는 회전형 줄꼬임 기반 구동기
- Mehmood, Usman (School of Mechanical Engineering, Korea University of Technology and Education) ;
- Popov, Dmitry (School of Mechanical Engineering, Korea University of Technology and Education) ;
- Gaponov, Igor (School of Mechanical Engineering, Korea University of Technology and Education) ;
- Ryu, Jee-Hwan (School of Mechanical Engineering, Korea University of Technology and Education)
- 우스만 매흐무드 (한국기술교육대학교 기계공학부) ;
- 드미트리 포포프 (한국기술교육대학교 기계공학부) ;
- 이고르 가파노브 (한국기술교육대학교 기계공학부) ;
- 유지환 (한국기술교육대학교 기계공학부)
- Received : 2015.02.15
- Accepted : 2015.03.15
- Published : 2015.06.01
Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.
Supported by : National Research Foundation of Korea (NRF)
- I. Gaponov, D. Popov, and J.-H. Ryu, "Twisted string actuation systems: A study of the mathematical model and a comparison of twisted strings," Mechatronics, IEEE/ASME Transactions on, vol. 19, no. 4, pp. 1331-1342, Aug. 2014. https://doi.org/10.1109/TMECH.2013.2280964
- I. Godler and T. Sonoda, "Performance evaluation of twisted strings driven robotic finger," Proc. of Ubiquitous Robots and Ambient Intelligence (URAI), pp. 542-547, Nov. 2011.
- G. Palli, C. Natale, C. May, C. Melchiorri, and T. Wurtz, "Modeling and control of the twisted string actuation system," Mechatronics, IEEE/ASME Transactions on, vol. 18, no. 2, pp. 664-673, Apr. 2013. https://doi.org/10.1109/TMECH.2011.2181855
- D. Popov, I. Gaponov, and J. Ryu, "A preliminary study on a twisted strings-based elbow exoskeleton," Proc. of World Haptics Conference (WHC), pp. 479-484, Apr. 2013.
- D. Popov, I. Gaponov, and J.-H. Ryu, "A study on twisted string actuation systems: Mathematical model and its experimental evaluation," Proc. of Intelligent Robots and Systems (IROS), pp. 1245-1250, Oct. 2012.
- D. Popov, I. Gaponov, and J.-H. Ryu, "Towards variable stiffness control of antagonistic twisted string actuators," Proc. of Intelligent Robots and Systems (IROS), pp. 2789-2794 Sep. 2014.
- T. Sonoda and I. Godler, "Multi-fingered robotic hand employing strings transmission named twist drive," Proc. of Intelligent Robots and Systems (IROS), pp. 2733-2738, Oct. 2010.
- M. Suzuki and T. Mayaliara, "A method of real- time coordination of redundant muscles for multi-dof robot joints," Proc. of SICE, pp. 1064-1069, Sep. 2007.
- T. WuILrtz, C. May, B. Holz, C. Natale, G. Palli, and C. Melchiorri, "The twisted string actuation system: Modeling and control," Proc. of Advanced Intelligent Mechatronics (AIM), pp. 1215-1220, Jul. 2010.
- World Health Organization. (2014, September 30). Facts about ageing. [Online] Available: http://www.who.int/ageing/about/facts/en/
- C. Carignan, J. Tang, S. Roderick, and M. Naylor, "A configuration-space approach to controlling a rehabilitation arm exoskeleton," Proc. of Rehabilitation Robotics (ICORR), pp. 179-187, Jun. 2007.
- K. Kiguchi, K. Iwami, M. Yasuda, K. Watanabe, and T. Fukuda, "An exoskeletal robot for human shoulder joint motion assist," Mechatronics, IEEE/ASME Transactions on, vol. 8, no. 1, pp. 125-135, Mar. 2003. https://doi.org/10.1109/TMECH.2003.809168
- J. Sulzer, M. Peshkin, and J. Patton, "Design of a mobile, inexpensive device for upper extremity rehabilitation at home," Proc. of Rehabilitation Robotics (ICORR), pp. 933-937, Jun. 2007.
- G.. Rosati, P. Gallina, S. Masiero, and A. Rossi, "Design of a new 5 d.o.f. wire-based robot for rehabilitation," Proc. of Rehabilitation Robotics (ICORR), pp. 430-433, Jun. 2005.
- H.-C. Kim and C.-Y. Lee, "Analysis on the kinematics and dynamics of human arm movement toward upper limb exoskeleton robot control part 2: combination of kinematic and dynamic constraints," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 8, pp. 875-881, 2014. https://doi.org/10.5302/J.ICROS.2014.13.0012
- H.-D. Lee and C.-S. Han, "Technical trend of the lower limb exoskeleton system for the performance enhancement," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 3, pp. 364-371, 2014. https://doi.org/10.5302/J.ICROS.2014.14.9023
- Bidirectional actuation of buckled bistable beam using twisted string actuator vol.30, pp.4, 2019, https://doi.org/10.1177/1045389X18817830