Design and prototyping of a development platform for exoskeleton research.

Detalhes bibliográficos
Ano de defesa: 2017
Autor(a) principal: Rafael Sanchez Souza
Orientador(a): Arturo Forner Cordero
Banca de defesa: Bruno Augusto Angelico, Fabrizio Leonardi
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: eng
Instituição de defesa: Universidade de São Paulo
Programa de Pós-Graduação: Engenharia Mecânica
Departamento: Não Informado pela instituição
País: BR
Link de acesso: https://doi.org/10.11606/D.3.2018.tde-26022018-141504
Resumo: Human machine interface has been a growing field of scientific research for the last years. Conventional robots have been conceived as rigid metallic structures and, when metal meets human tissue, it is necessary to break the mindset in order to achieve better interaction. Exoskeletons, often called wearable robots, shares the same challenges with applications ranging from industry, to military, medicine and entertainment. This work introduces a systematic design of a development platform for exoskeleton research supported by Requirement Engineering and implemented through prototyping. The dynamics of the human joint and the robotic joint are modelled with different couplings between them. A Model Reference Adaptive Control is proposed as a solution for exoskeleton control and simulations indicate that it is capable of estimating human joint parameters in real time. The Model Reference controller is implemented, with successful modulation of the robotic joint apparent impedance. From a practical perspective, we present the design and construction of an experimental workbench and the use of an on-line repository for the control software development. The on-line repository results in a viable way for collaborative project management, software versioning and scientific contribution. The experimental workbench which was designed to meet the stakeholders needs - the university, patients and therapists - being of modular application, easy to operate and relatively low cost, can be used to conduct motor control experiments and rehabilitation tasks.
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spelling info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesis Design and prototyping of a development platform for exoskeleton research. Projeto e protopagem de uma plataforma de desenvolvimento para pesquisa de exoesqueletos. 2017-12-11Arturo Forner CorderoBruno Augusto AngelicoFabrizio LeonardiRafael Sanchez SouzaUniversidade de São PauloEngenharia MecânicaUSPBR Biomecânica Biomecatronics Controle (Teoria de Sistemas e Controle) Controle motor Design Exoskeleton Motor control Reabilitação Rehabilitation Robótica System design Human machine interface has been a growing field of scientific research for the last years. Conventional robots have been conceived as rigid metallic structures and, when metal meets human tissue, it is necessary to break the mindset in order to achieve better interaction. Exoskeletons, often called wearable robots, shares the same challenges with applications ranging from industry, to military, medicine and entertainment. This work introduces a systematic design of a development platform for exoskeleton research supported by Requirement Engineering and implemented through prototyping. The dynamics of the human joint and the robotic joint are modelled with different couplings between them. A Model Reference Adaptive Control is proposed as a solution for exoskeleton control and simulations indicate that it is capable of estimating human joint parameters in real time. The Model Reference controller is implemented, with successful modulation of the robotic joint apparent impedance. From a practical perspective, we present the design and construction of an experimental workbench and the use of an on-line repository for the control software development. The on-line repository results in a viable way for collaborative project management, software versioning and scientific contribution. The experimental workbench which was designed to meet the stakeholders needs - the university, patients and therapists - being of modular application, easy to operate and relatively low cost, can be used to conduct motor control experiments and rehabilitation tasks. Interface homem e máquina tem sido um campo crescente de pesquisa científica nos últimos anos. Robôs convencionais têm sido concebidos como estruturas metálicas rígidas que, quando em contato com o tecido humano, faz necessário romper com o modo de pensar corrente para atingir uma melhor interação. Exoesqueletos, chamados também de robôs vestíveis, compartilham destes desafios e abrangem aplicação na indústria, militar, medicina e entretenimento. Este trabalho introduz uma abordagem sistemática, baseada em Engenharia de Requisitos e Prototipagem, para projeto de uma plataforma de desenvolvimento para pesquisa em exoesqueletos. A dinâmica da junta humana e da junta robótica são modeladas para diferentes acoplamentos entre si. O Controle Adaptativo por Modelo de Referência é proposto como uma solução para controle de exoesqueletos; simulações indicam ser capaz de estimar os parâmetros da junta humana em tempo real. O controlador por Modelo de Referência foi implementado, tendo sucesso na modulação da impedância aparente da junta robótica. De uma perspectiva mais prática, é apresentado o projeto e construção de uma bancada experimental e o uso de um repositório online para desenvolvimento do software de controle. O repositório on-line viabiliza gestão de projetos colaborativos, focado em versionamento de software e contribuição científica. A bancada experimental foi projetada para atender as necessidades de diferentes stakeholders - a universidade, os pacientes e terapeutas - sendo de aplicação modular, de fácil operação e relativo baixo custo, é capaz de conduzir experimentos de controle motor e tarefas de reabilitação. https://doi.org/10.11606/D.3.2018.tde-26022018-141504info:eu-repo/semantics/openAccessengreponame:Biblioteca Digital de Teses e Dissertações da USPinstname:Universidade de São Paulo (USP)instacron:USP2023-12-21T20:10:53Zoai:teses.usp.br:tde-26022018-141504Biblioteca Digital de Teses e Dissertaçõeshttp://www.teses.usp.br/PUBhttp://www.teses.usp.br/cgi-bin/mtd2br.plvirginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.bropendoar:27212018-07-19T20:50:39Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)false
dc.title.en.fl_str_mv Design and prototyping of a development platform for exoskeleton research.
dc.title.alternative.pt.fl_str_mv Projeto e protopagem de uma plataforma de desenvolvimento para pesquisa de exoesqueletos.
title Design and prototyping of a development platform for exoskeleton research.
spellingShingle Design and prototyping of a development platform for exoskeleton research.
Rafael Sanchez Souza
title_short Design and prototyping of a development platform for exoskeleton research.
title_full Design and prototyping of a development platform for exoskeleton research.
title_fullStr Design and prototyping of a development platform for exoskeleton research.
title_full_unstemmed Design and prototyping of a development platform for exoskeleton research.
title_sort Design and prototyping of a development platform for exoskeleton research.
author Rafael Sanchez Souza
author_facet Rafael Sanchez Souza
author_role author
dc.contributor.advisor1.fl_str_mv Arturo Forner Cordero
dc.contributor.referee1.fl_str_mv Bruno Augusto Angelico
dc.contributor.referee2.fl_str_mv Fabrizio Leonardi
dc.contributor.author.fl_str_mv Rafael Sanchez Souza
contributor_str_mv Arturo Forner Cordero
Bruno Augusto Angelico
Fabrizio Leonardi
description Human machine interface has been a growing field of scientific research for the last years. Conventional robots have been conceived as rigid metallic structures and, when metal meets human tissue, it is necessary to break the mindset in order to achieve better interaction. Exoskeletons, often called wearable robots, shares the same challenges with applications ranging from industry, to military, medicine and entertainment. This work introduces a systematic design of a development platform for exoskeleton research supported by Requirement Engineering and implemented through prototyping. The dynamics of the human joint and the robotic joint are modelled with different couplings between them. A Model Reference Adaptive Control is proposed as a solution for exoskeleton control and simulations indicate that it is capable of estimating human joint parameters in real time. The Model Reference controller is implemented, with successful modulation of the robotic joint apparent impedance. From a practical perspective, we present the design and construction of an experimental workbench and the use of an on-line repository for the control software development. The on-line repository results in a viable way for collaborative project management, software versioning and scientific contribution. The experimental workbench which was designed to meet the stakeholders needs - the university, patients and therapists - being of modular application, easy to operate and relatively low cost, can be used to conduct motor control experiments and rehabilitation tasks.
publishDate 2017
dc.date.issued.fl_str_mv 2017-12-11
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://doi.org/10.11606/D.3.2018.tde-26022018-141504
url https://doi.org/10.11606/D.3.2018.tde-26022018-141504
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidade de São Paulo
dc.publisher.program.fl_str_mv Engenharia Mecânica
dc.publisher.initials.fl_str_mv USP
dc.publisher.country.fl_str_mv BR
publisher.none.fl_str_mv Universidade de São Paulo
dc.source.none.fl_str_mv reponame:Biblioteca Digital de Teses e Dissertações da USP
instname:Universidade de São Paulo (USP)
instacron:USP
instname_str Universidade de São Paulo (USP)
instacron_str USP
institution USP
reponame_str Biblioteca Digital de Teses e Dissertações da USP
collection Biblioteca Digital de Teses e Dissertações da USP
repository.name.fl_str_mv Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)
repository.mail.fl_str_mv virginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.br
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