Robotics, Volume 8, Issue 3 (September 2019) – 33 articles
Cover Story (view full-size image): Exoskeletons are an increasingly popular technology in industrial contexts. However, most of the available solutions involve high-cost hardware, standard actuation, and controllers showing safety and active assistance limitations. In the present work, an industrial exoskeleton with a high-payload ratio is proposed. A low-cost mechanical design solution (<10,000 Euro) is described, exploiting compliant actuation at the shoulder joint. A hierarchic model-based controller with embedded safety rules is also proposed. An inner gain scheduled-optimal controller is designed for trajectory tracking, while an outer safety-based fuzzy controller is designed to online assist the human based on his/her intention of moving. Simulations have been performed to validate the performance of the proposed device, showing promising results. The prototype is currently undergoing realization. View this paper.
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