exoskeleton Architecture Parameters

Here’s a comprehensive response to the prompt “exoskeleton architecture parameters”, incorporating images:

Key Architecture Parameters:

• • Actuation:

     

    • • Active: Powered by motors or actuators (e.g., electric, pneumatic, hydraulic) for force augmentation or rehabilitation.
        Opens in a new windowrobotik.dfki-bremen.de

        Active Exoskeleton

     

    • • Passive: Stores and releases energy through springs, dampers, or elastic materials for support and load transfer.
        Opens in a new windowwww.researchgate.net

        Passive Exoskeleton

     

    • • Hybrid: Combines active and passive elements for a balance of power and efficiency.

     

• • Kinematic Structure:

     

    • • Serial: Joints arranged in a linear chain, mimicking human limbs.
        Opens in a new windowwww.researchgate.net

        Serial Exoskeleton

     

    • • Parallel: Joints connected to a common base, providing enhanced strength and stiffness.
        Opens in a new windowwww.researchgate.net

        Parallel Exoskeleton

     

• • Degrees of Freedom (DOF):

     

    • • Number of independent motions the exoskeleton can perform at each joint.

     

    • • Matches the DOF of the human body segment for natural movement.

     

• • Alignment:

     

    • • Anthropomorphic: Aligns with human joint axes for optimal force transfer and comfort.

     

    • • Non-anthropomorphic: May deviate from human anatomy for specific tasks or design considerations.

     

• • Joint Actuation:

     

    • • Direct drive: Actuators directly connected to joints, providing precise control but potentially bulky.
        Opens in a new windowwww.semanticscholar.org

        Direct Drive Exoskeleton

     

    • • Remote actuation: Actuators located remotely, using cables or Bowden cables for actuation, reducing weight and inertia.
        Opens in a new windowwww.esa.int

        Remote Actuation Exoskeleton

     

• • Sensors:

     

    • • Measure user movements, forces, and interactions for control and feedback.

     

    • • Include joint encoders, force sensors, IMUs (inertial measurement units), EMG (electromyography) sensors, etc.

     

• • Control Strategies:

     

    • • Impedance control: Adjusts exoskeleton stiffness and damping to assist or resist movements.

     

    • • Assist-as-needed: Provides assistance only when the user’s effort falls below a threshold.

     

    • • Adaptive control: Learns user preferences and adjusts behavior over time.

     

Additional Considerations:

• • Materials: Lightweight and durable materials (e.g., aluminum, carbon fiber, plastics) are essential.

• • Power Supply: Battery life and management are crucial for active exoskeletons.

• • Safety: Mechanisms for ensuring user safety and preventing injury are critical.

• • Comfort: Proper fit and alignment are essential for user comfort and acceptance.

• Cost: Balancing performance and affordability is a key challenge in exoskeleton development.