Index

Abduction–adduction, 38, 58, 60, 61, 62, 65, Lower limb model, 67, 74–79, 283–289
67, 236, 243, 252, 262–265, 270, Models, 31, 42, 195–198, 327
275 Monitoring, 104–108, 226–229
Accelerometers, 81, 119, 122, 169–170, 190, Upper limb model, 65–67, 79–83,
286, 287 256–257
Actuators, 181–189 Biomechatronics, 168, 169, 226, 323, 324
Bioinspired, 8, 194–198 Biological inspiration, 8–9
EAP, 185 Design, 242–248
ERF, 185–186 Interaction, 9
FES, 110, 174, 283 Optimization procedures, 9
Hydraulic, 4, 11, 181–183, 186, 224 Principles, 6–9
MRF, 185–186 Trends, 330–331
Pneumatic, 5, 28, 182, 271–278, Biomimetism, 32, 324
291–292, 311–314 BLEEX exoskeleton, 223–226
Series elastic, 28, 181–183 Bluetooth, 119, 201, 214–216, 222, 228, 286
SMA, 186–189 Brain–computer interface (BCI), 87, 93, 115,
Ultrasonic, 38, 39, 237, 253 226, 314, 315
Afferent system (see Sensory system,
physiology), 242 Capacitive sensors, 170, 176, 180
Algorithms Central nervous system (CNS), 25, 91, 97, 99,
Common spatial patterns (CSP), 95 139, 220
Frequency domain (EMG), 101–102 Central pattern generators (CPGs), 25, 40–44
Independent component analysis (ICA), Circumduction, 58, 60, 65, 67, 299, 300
95 Classifiers
Principal component Analysis (PCA), Gaussian, 103, 108
94 Neural networks, 103, 108, 319
Time domain (EMG), 99–101 Threshold based, 102–103, 108
Comfort (see Ergonomics), 5
Bandwidth Microclimate, 191–194
Actuator, 147, 182, 188, 266, 291 Communication networks
Communication networks, 122, 218, Latency, 204
221, 230–232 Power consumption, 204–205
Control, 114, 143, 263, 272 Quality of service (QoS), 204–205, 214
Sensor, 245, 286 Throughput, 203
Bioimitation, 13, 32, 324 Topology, 206–208
Bioinspiration, 6–9, 17–44, 74–79, 242–245, Controller area network (CAN), 211–212,
323–326 227–229, 254
Biomechanics, 17, 41, 56–70, 236, 241, 246, CyberHand robotic prosthesis, 241–248
247, 250, 255, 290, 297, 299, 311,
326, 332 Denavit–Hartenberg, 13, 47, 51–52, 130, 326
Dynamics, 67–70 Lower limb model, 61–64, 67
Human movements, 57–59 Upper limb model, 59–61, 65–67, 81

Wearable Robots: Biomechatronic Exoskeletons Edited by José L. Pons

 2008 John Wiley & Sons, Ltd. ISBN: 978-0-470-51294-4

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336 Index

Dynamics, 47–74, 105 Flexion–extension, 38, 60, 58, 61–63, 65, 67,
Forward, 53, 69 75, 79, 81–82, 236, 252, 263–265,
Human, 67–70 270
Inverse, 53, 54, 69, 70
Robot, 53–56 GAIT–ESBiRRo exoskeleton, 20, 23, 32,
40–44, 159–162, 189–191,
194–198, 283–289
Efferent system (see Motor system, Genetic algorithms, 8, 9, 13, 23, 74–79, 324,
physiology), 25 326
Electroencephalography (EEG), 13, 15, Gyroscopes, 80, 81, 83, 107, 110, 114, 158,
89–96, 209, 226, 227 170–171, 190, 237, 239, 286
Algorithms, 93–96
Control, 314–319 HAL exoskeleton, 32, 304–307
Models, 92–93 Hall effect sensors, 40, 167–168, 244
Physiology, 90–92 Hierarchical
Sensors, 171–175, 229 Bioinspired control, 36–40
Electrogoniometers, 168–169 Motor control, 9, 25, 27, 324, 326
Electromyography (EMG), 7, 13, 27, 209, Network topology, 206–208, 216
226, 330 Homogeneous coordinates, 49
Algorithms, 99–104, 292 H–R Interaction (cognitive), 3, 87–122
Control, 9, 32, 39–40, 258, 292, 331 Biomechanically based, 104–108
Models, 98–99 Cortical activity control, 115–118
Physiology, 97–98 EEG based, 89–96, 314–319
Sensors, 171–175, 228 EMG based, 96–104
Encoders, 166–167, 224, 244 PNS interface, 242–248
Equations of motion, 13, 54, 83, 261, 326 H–R Interaction (physical), 3, 127–162
Ergonomics, 129 Application of load, 134–138
Ergononics, 5, 6, 10, 14, 130–133, 248–254 Control of, 138–150
Design, 65, 133, 252 Kinematic compatibility, 130–133
Interaction forces, 150–155 Tolerance to pressure, 134–135
Euler angles, 48–51 Human–computer interface (HCI) (see H–R
EXARM exoskeleton, 248–254 Interaction (cognitive)), 87
Exoskeletons Human–machine interface (HMI), 87, 98,
Actuators for (see Actuators), 180 262, 263, 265, 268
Batteries for (see Portable energy Humidity sensors, 179–180, 191–194
storage), 189 Hybrid position/force control, 140–142
Classification, 1–3, 10–11
Definition, 5–6 Impedance control, 29, 108, 138–150, 228
Empowering, 304–314 Full-body exoskeletons, 304–307
Full-body, 304–314 Lower limb exoskeletons, 159–162
Lower limb, 283–304 Upper limb exoskeletons, 157–159,
Neuromotor research, 254–259 272–275
Orthotic, 236–241, 283–295 Inertial measurement unit (IMU) (see Inertial
Rehabilitation, 259–278 sensors), 286, 286–287
Sensors for (see Sensors), 166 Inertial sensors, 44, 107, 109, 169–171,
Technologies, 9–10 189–191
Teleoperation, 248–254 Instantaneous centre of rotation (ICR), 53, 77,
Upper limb, 235–278 131, 132, 150, 151, 328
Extender, 1, 176 Interaction forces, 133–138
Extenders (see Exoskeletons, empowering), 4 Human tolerance, 134–135, 155–156
External force, 5, 10, 53, 57, 69, 139, 144 Quantified, 150–155

Shear, 133, 135, 138, 153, 176, 284, 285
Support design, 137–138
Internal force, 5, 6, 10
Internal models, 13, 27, 32, 40–44, 139, 324,
326
Inversion–eversion, 64 , 67
Joints, 47, 51, 52, 57, 249, 250, 254, 256,
271, 272
Anatomical, 59, 61, 79–80
Ankle, 64, 224, 285
Cylindrical, 52
Elbow, 60–61, 227, 236, 259, 312
Hip, 62–63, 224
Kinematic compatibility, 79–80,
130–133
Knee, 63–64, 74–79, 224, 284, 285, 301,
302
Prismatic, 52, 56
Revolute, 52, 56
Shoulder, 60, 252, 259, 311
Spherical, 52
Wrist, 61, 227, 236
Kinematics, 32, 47–74, 105, 109, 110
Compatibility, 130–133
Compliance, 74–80
Forward, 48, 51–53, 65, 71
Full-body WRs, 304–314
Human, 31, 32, 56–67
Interaction forces (see Ergonomics,
interaction forces), 150
Inverse, 48, 50, 65, 67, 71, 73, 74
Lower limb WRs, 283–304
Redundancy, 70–74
Robot, 48–53
Upper limb WRs, 235–278
Lagrange–Euler formulation, 54, 55, 83
LVDTs, 168
Manipulability, 47, 52–56
Maximum pressure tolerance (MPT), 134, 156
Mechanoreceptors, 128, 244, 245
mHMI (see H–R Interaction (physical)), 262
Mobility, 11
Kinematic, 48, 59–61, 70–74, 77–79,
326
Locomotion, 5, 11, 105, 314–319
Manipulation, 11, 36–40
Model-based control, 27, 140, 146–150
Motor system, 23, 57, 147, 226, 228, 229
Index 337
Models, 24–27
Physiology, 29–31
Muscle
Activity recording, 99–103
Artificial pneumatic (see Actuators,
pneumatic), 311
Dynamics, 67–70
FES (see Actuators, FES), 110
Force estimation, 103–104, 310–311
Impedance, 138–140
Lower limb, 61–64
Physiology, 27–29, 97–98
Soft tissues, 135–137
Types, 29
Upper limb, 59–61
NEUROBOTICS exoskeleton, 254–259
NeuroLab exoskeleton, 226–229
Newton–Euler formulation, 54, 70
Optimization, 7, 8, 19, 110, 175, 243, 254,
324
Biologically inspired, 9
Evolutionary, 22–23, 324
Kinematics and dynamics, 69–79
Objective functions, 19–22
Orthotic robots, 1, 2, 6, 10
Biomechanical modelling, 80–83
Control (see H–R Interaction (physical),
control of), 109
Design, 77–80, 137–138, 194–198
Kinematics, 132
Lower limb, 41, 283–295
Orthoses, 4, 5, 32, 74, 75, 107, 156–162,
168, 169, 171, 176, 178, 182, 186
Upper limb, 236–241
Peripheral nervous system (PNS), 9, 25, 96,
97, 99
Neural interface, 241–248
Piezoelectric sensors, 170, 175–176
Piezoresistive polymers, 178
Portable energy storage, 189
Potentiometers, 168, 227, 252, 257, 268, 305
Power density (actuators), 39, 181, 243, 253
Pressure discomfort threshold (PDT), 134
Pressure pain threshold (PPT), 134, 155–156
Pressure sensors, 178, 271, 273
PROFIBUS, 212
Pronation–supination, 39, 48, 58, 61, 64, 65,
79, 81, 236, 264, 265, 270
338 Index
Prosthetic robots, 2, 10
Design, 36–40
Prostheses, 32, 107, 186
Upper limb, 241–248, 295–304
Redundancy
Kinematic, 13, 21, 22, 48, 53, 70–74,
133, 326
Networks, 212
Problem, 19, 57, 69, 70
Sensors, 39, 44, 80, 89, 105, 118, 166–180
Bioelectrical activity, 171–175
Biological models, 29–31
Kinematics, 166–171
Kinetics, 152, 175–178
Microclimate, 178–180, 191–194
Wireless networks, 118, 119, 121–122
Sensory system, 22–24, 27, 127, 242, 245,
247, 248
Feedback, 118, 242–245, 247, 258, 296,
297, 303
Models, 29, 41, 143, 257
Physiology, 26, 29–31, 90–92, 115,
128–129
Receptors, 25
Singularity, 53, 71, 73, 265, 326
Soft tissues, 14, 57, 79, 81, 155, 326, 327
Application of force, 14, 135–137, 328
Models, 135–137, 326
Stability
Anatomical, 59, 60, 63, 64, 105, 300,
302
Control, 29, 33–36, 92, 109, 159–162,
183, 194, 245, 253, 284–285, 287,
299–311
Sensor and actuator, 177, 181
Stability (control), 20, 147–150
Strain gauges, 176–178, 237, 244, 253, 271
Temperature sensors, 180, 191–194, 222, 223
Time delay (control), 147–150, 232
Transformation matrix, 49–52, 67
Variability, 22, 130–133, 140, 150, 328
Wired WR networks, 209–214
Wireless WR networks, 214–218
WOTAS exoskeleton, 32, 79–83, 108,
111–115, 156–159, 236–241
ZigBee, 201, 215–216, 231