Next Article in Journal
Reconfiguration Analysis of a 3-DOF Parallel Mechanism
Next Article in Special Issue
Optimization of a Kitting Line: A Case Study
Previous Article in Journal
Nonlinear Model Predictive Control for Mobile Robot Using Varying-Parameter Convergent Differential Neural Network
Previous Article in Special Issue
A Survey of Behavioral Models for Social Robots
Open AccessArticle

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

1
Consiglio Nazionale delle Ricerche (CNR), Istituto di Sistemi e Tecnologie Industriali per il Manifatturiero Avanzato (STIIMA), 20133 Milano, Italy
2
Department of Mechanical Engineering, Politecnico di Milano, 20156 Milano, Italy
3
Department of Mechanical and Industrial Engineering, University of Brescia, 25121 Brescia, Italy
4
Polibrixia, 25123 Brescia, Italy
5
Istituto Dalle Molle di Studi sull’Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Università della Svizzera Italiana (USI), IDSIA-SUPSI, 6928 Manno, Switzerland
*
Author to whom correspondence should be addressed.
Robotics 2019, 8(3), 65; https://doi.org/10.3390/robotics8030065
Received: 4 May 2019 / Revised: 9 July 2019 / Accepted: 31 July 2019 / Published: 2 August 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. Moreover, state-of-the-art empowering controllers do not allow for online assistance regulation and do not embed advanced safety rules. In the presented work, an industrial exoskeleton with high payload ratio for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is described, exploiting compliant actuation at the shoulder joint to increase safety in human-robot cooperation. A hierarchic model-based controller with embedded safety rules is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer safety-based fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the inner optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization. View Full-Text
Keywords: industrial exoskeleton design; industrial exoskeleton control; human-robot collaboration; optimal control; empowering fuzzy control industrial exoskeleton design; industrial exoskeleton control; human-robot collaboration; optimal control; empowering fuzzy control
Show Figures

Figure 1

MDPI and ACS Style

Mauri, A.; Lettori, J.; Fusi, G.; Fausti, D.; Mor, M.; Braghin, F.; Legnani, G.; Roveda, L. Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks. Robotics 2019, 8, 65.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop