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Design and Control of an Upper Limb Bionic Exoskeleton Rehabilitation Device Based on Tensegrity Structure
Peng Ni1, Jianwei Sun2, Jialin Dong2
1School of Applied Technology Changchun University of Technology, Changchun 130012, China.
Applied Bionics and Biomechanics
|September 6, 2024
Summary
This study introduces a lightweight, comfortable upper limb exoskeleton for rehabilitation, utilizing a tensegrity structure and advanced neural network control. The device demonstrates stable motion and enhanced assist capabilities, offering potential for improved patient recovery.
Area of Science:
- Biomedical Engineering
- Robotics
- Rehabilitation Technology
Background:
- Traditional upper limb exoskeletons face challenges like large size, high cost, and low comfort, limiting their widespread adoption in medical rehabilitation.
- The tensegrity structure offers lightweight, flexible, and biomimetic properties, making it suitable for developing advanced rehabilitation devices.
Purpose of the Study:
- To design and develop a novel upper limb bionic exoskeleton rehabilitation device leveraging tensegrity structures.
- To enhance comfort, mobility, and control accuracy in exoskeleton-assisted rehabilitation.
Main Methods:
- A tensegrity-based mapping model was used to design the exoskeleton's overall structure.
- A bionic elbow joint utilizing a gear and rack mechanism was developed and its stability proven.
- An impedance control scheme employing a back propagation (BP) neural network, optimized with particle swarm optimization (PSO) and a fuzzy state evaluator, was implemented.
Main Results:
- The designed exoskeleton exhibits good flexion motion stability and assist ability.
- Experimental results highlight significant advantages in terms of reduced volume and improved mobility compared to traditional devices.
- The proposed control strategy demonstrated high precision and adaptive capabilities.
Conclusions:
- The tensegrity-based upper limb exoskeleton offers a promising solution for improving rehabilitation quality and patient comfort.
- The advanced control strategy enhances the device's precision and adaptability, indicating strong potential for medical rehabilitation applications.
