TY - GEN
T1 - Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace
AU - Hunt, Justin
AU - Artemiadis, Panagiotis
AU - Lee, Hyunglae
N1 - Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - The purpose of this work is to optimize the stiffness of a novel parallel-actuated robotic exoskeleton designed to offer a large workspace. This is done in an effort to help provide a solution to the issue wearable parallel actuated robots face regarding a tradeoff between stiffness and workspace. Presented in the form of a shoulder exoskeleton, the device demonstrates a new parallel architecture that can be used for wearable hip, ankle and wrist robots as well. The stiffness of the architecture is dependent on the placement of its actuated substructures. Therefore, it is desirable to place these substructures effectively so as to maximize dynamic performance for any application. In this work, an analytical stiffness model of the device is created and validated experimentally. The model is then used, along with a method of bounded nonlinear multi-objective optimization to configure the parallel actuators so as to maximize stiffness for the entire workspace. Furthermore, it is shown how to use the same technique to optimize the device for a particular task, such as lifting in the sagittal plane.
AB - The purpose of this work is to optimize the stiffness of a novel parallel-actuated robotic exoskeleton designed to offer a large workspace. This is done in an effort to help provide a solution to the issue wearable parallel actuated robots face regarding a tradeoff between stiffness and workspace. Presented in the form of a shoulder exoskeleton, the device demonstrates a new parallel architecture that can be used for wearable hip, ankle and wrist robots as well. The stiffness of the architecture is dependent on the placement of its actuated substructures. Therefore, it is desirable to place these substructures effectively so as to maximize dynamic performance for any application. In this work, an analytical stiffness model of the device is created and validated experimentally. The model is then used, along with a method of bounded nonlinear multi-objective optimization to configure the parallel actuators so as to maximize stiffness for the entire workspace. Furthermore, it is shown how to use the same technique to optimize the device for a particular task, such as lifting in the sagittal plane.
UR - http://www.scopus.com/inward/record.url?scp=85063142585&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2018.8463159
DO - 10.1109/ICRA.2018.8463159
M3 - Conference contribution
AN - SCOPUS:85063142585
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6745
EP - 6751
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -