Wearable technologies最新文献

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Wearable armband with a floating mobile exploratory electrode at fingertip for on-demand touch-and-measure multilead electrocardiography. 可穿戴臂带与浮动移动探查电极在指尖按需触摸和测量多导联心电图。
IF 3.4
Wearable technologies Pub Date : 2025-05-05 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.11
Saygun Guler, Emre Aslanger, Murat Kaya Yapici
{"title":"Wearable armband with a floating mobile exploratory electrode at fingertip for on-demand touch-and-measure multilead electrocardiography.","authors":"Saygun Guler, Emre Aslanger, Murat Kaya Yapici","doi":"10.1017/wtc.2025.11","DOIUrl":"https://doi.org/10.1017/wtc.2025.11","url":null,"abstract":"<p><p>Spurred by the global pandemic, research in health monitoring has pivoted towards the development of smart garments, enabling long-term tracking of individuals' cardiovascular health by continuously monitoring the electrocardiogram (ECG) and detecting any abnormality in the signal morphology. Many types of dry electrodes have been proposed as alternatives to gold standard Ag/AgCl wet electrodes, and they have been integrated into clothes capable of acquiring only a limited number of the different ECG traces. This limitation severely diminishes the diagnostic utility of the collected ECG data and obstructs the garment's potential for clinical-level evaluation. Here, we demonstrate a special ECG upper armband with a glove component which houses graphene-textile electrodes, where a fully mobile, exploring electrode located at the index finger enables the user to strategically position the electrode on-demand to desired body areas and measure the different ECG traces that are bipolar limb and unipolar chest leads. Based on measurements with and without employing the well-known Wilson Central Terminal (WCT) arrangement, the correlation ratio of unipolar ECG chest leads acquired with the graphene textile-based armband and Ag/AgCl electrodes both in \"WCT-less\" configuration reach up to %99.65; and up to %99.54 when Ag/AgCl electrodes are utilized \"with WCT\" while the graphene-based armband in \"WCT-less\" configuration. To the authors' best knowledge, this study reports the first multilead on-demand \"touch-and-measure\" ECG recording from a fully wearable textile garment. Moreover, owing to the human-centered armband design, we achieved a more than three-fold reduction in electrode count from 10 in clinical ECG practice down to 3.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e21"},"PeriodicalIF":3.4,"publicationDate":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12056423/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144054956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
SenseRisc: An instrumented smart shirt for risk prevention in the workplace. SenseRisc:一种用于工作场所风险预防的智能衬衫。
IF 3.4
Wearable technologies Pub Date : 2025-05-02 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.10
Christian Tamantini, Fabrizio Marra, Joshua Di Tocco, Stefano Di Modica, Antonio Lanata, Francesca Cordella, Maurizio Ferrarin, Francesco Rizzo, Mara Stefanelli, Maddalena Papacchini, Corrado Delle Site, Alessio Tamburrano, Carlo Massaroni, Emiliano Schena, Loredana Zollo, Maria Sabrina Sarto
{"title":"SenseRisc: An instrumented smart shirt for risk prevention in the workplace.","authors":"Christian Tamantini, Fabrizio Marra, Joshua Di Tocco, Stefano Di Modica, Antonio Lanata, Francesca Cordella, Maurizio Ferrarin, Francesco Rizzo, Mara Stefanelli, Maddalena Papacchini, Corrado Delle Site, Alessio Tamburrano, Carlo Massaroni, Emiliano Schena, Loredana Zollo, Maria Sabrina Sarto","doi":"10.1017/wtc.2025.10","DOIUrl":"https://doi.org/10.1017/wtc.2025.10","url":null,"abstract":"<p><p>The integration of wearable smart garments with multiple sensors has gained momentum, enabling real-time monitoring of users' vital parameters across various domains. This study presents the development and validation of an instrumented smart shirt for risk prevention in workplaces designed to enhance worker safety and well-being in occupational settings. The proposed smart shirt is equipped with sensors for collecting electrocardiogram, respiratory waveform, and acceleration data, with signal conditioning electronics and Bluetooth transmission to the mobile application. The mobile application sends the data to the cloud platform for subsequent Preventive Risk Index (PRI) extraction. The proposed SenseRisc system was validated with eight healthy participants during the execution of different physically exerting activities to assess the capability of the system to capture physiological parameters and estimate the PRI of the worker, and user subjective perception of the instrumented intelligent shirt.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e20"},"PeriodicalIF":3.4,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12056430/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144046002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Evaluation of the static and dynamic assistive torque of a passive upper limb occupational exoskeleton. 被动式上肢职业外骨骼的静态和动态辅助扭矩评估。
IF 3.4
Wearable technologies Pub Date : 2025-04-15 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.8
Etienne Ricard, Chris Hayot, Isabelle Clerc-Urmès, Laurent Claudon, Kévin Desbrosses, Charles Pontonnier
{"title":"Evaluation of the static and dynamic assistive torque of a passive upper limb occupational exoskeleton.","authors":"Etienne Ricard, Chris Hayot, Isabelle Clerc-Urmès, Laurent Claudon, Kévin Desbrosses, Charles Pontonnier","doi":"10.1017/wtc.2025.8","DOIUrl":"https://doi.org/10.1017/wtc.2025.8","url":null,"abstract":"<p><p>Adjusting the assistive torque of upper limb occupational exoskeletons is essential to optimize their effectiveness and user acceptance in companies. This adjustment enables a balance to be struck between the expected benefits and potential undesirable effects associated with their use, particularly for the shoulder joint, which is sensitive to the balance of forces. Despite this, no study has yet evaluated these assistive torques in static and dynamic conditions representative of work situations. The aim of this article is therefore to evaluate these assistive torques under these two conditions, using an isokinetic dynamometer. Angular velocities ranging from 0 to 240°/s and four levels of assistance were investigated. The results showed that the maximum assistive torques in flexion (energy restitution phase) were lower than those in extension (tensioning phase) by 20 to 36% and were median in static conditions. It was also observed that the level of assistance and the exoskeleton opening angles had a strong impact on the assistive torques, unlike the angular velocity in dynamic conditions, which had a minimal effect. Quantifying these assistive torques is crucial for assessing their biomechanical impact and adjusting the exoskeleton's assistance to the operator and the task performed.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e19"},"PeriodicalIF":3.4,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12034577/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144000514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Functional evaluation of a real-time EMG controlled prosthetic hand. 实时肌电控制假手的功能评估。
IF 3.4
Wearable technologies Pub Date : 2025-04-07 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.7
Amlan Jyoti Kalita, Maibam Pooya Chanu, Nayan M Kakoty, Ramana Kumar Vinjamuri, Satyajit Borah
{"title":"Functional evaluation of a real-time EMG controlled prosthetic hand.","authors":"Amlan Jyoti Kalita, Maibam Pooya Chanu, Nayan M Kakoty, Ramana Kumar Vinjamuri, Satyajit Borah","doi":"10.1017/wtc.2025.7","DOIUrl":"https://doi.org/10.1017/wtc.2025.7","url":null,"abstract":"<p><p>Electromyogram (EMG)-controlled prosthetic hands have advanced significantly during the past two decades. However, most of the currently available prosthetic hands fail to replicate human hand functionality and controllability. To measure the emulation of the human hand by a prosthetic hand, it is important to evaluate the functional characteristics. Moreover, incorporating feedback from end users during clinical testing is crucial for the precise assessment of a prosthetic hand. The work reported in this manuscript unfolds the functional characteristics of an EMG-CoNtrolled PRosthetIC Hand called ENRICH. ENRICH is a real-time EMG controlled prosthetic hand that can grasp objects in 250.81.1 ms, fulfilling the neuromuscular constraint of a human hand. ENRICH is evaluated in comparison to 26 laboratory prototypes and 10 commercial variants of prosthetic hands. The hand was evaluated in terms of size, weight, operation time, weight lifting capacity, finger joint range of motion, control strategy, degrees of freedom, grasp force, and clinical testing. The box and block test and pick and place test showed ENRICH's functionality and controllability. The functional evaluation reveals that ENRICH has the potential to restore functionality to hand amputees, improving their quality of life.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e18"},"PeriodicalIF":3.4,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12034578/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144058203","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and showcase of a stairs-based testbed for the benchmark of exoskeleton devices: The STEPbySTEP project. 为外骨骼设备的基准设计和展示一个基于楼梯的测试平台:STEPbySTEP项目。
IF 3.4
Wearable technologies Pub Date : 2025-03-31 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.6
Marco Caimmi, Nicole Maugliani, Matteo Malosio, Francesco Airoldi, Tito Dinon, Diego Borro, Martxel Eizaguirre, Iñaki Díaz, Sergio Ausejo, Gabriele Puzzo, Federico Fraboni, Luca Pietrantoni, Marco Maccarini, Asad Ali Shahid, Loris Roveda
{"title":"Design and showcase of a stairs-based testbed for the benchmark of exoskeleton devices: The STEPbySTEP project.","authors":"Marco Caimmi, Nicole Maugliani, Matteo Malosio, Francesco Airoldi, Tito Dinon, Diego Borro, Martxel Eizaguirre, Iñaki Díaz, Sergio Ausejo, Gabriele Puzzo, Federico Fraboni, Luca Pietrantoni, Marco Maccarini, Asad Ali Shahid, Loris Roveda","doi":"10.1017/wtc.2025.6","DOIUrl":"https://doi.org/10.1017/wtc.2025.6","url":null,"abstract":"<p><p>Wearable exoskeletons hold the potential to provide valuable physical assistance across a range of tasks, with applications steadily expanding across different scenarios. However, the lack of universally accepted testbeds and standardized protocols limits the systematic benchmarking of these devices. In response, the STEPbySTEP project, funded within the Eurobench framework, proposes a modular, sensorized, reconfigurable staircase testbed designed as a novel evaluation approach within the first European benchmarking infrastructure for robotics. This testbed, to be incorporated into the Eurobench testing facility, focuses on stairs as common yet challenging obstacles in daily life that provide a unique benchmark for exoskeleton assessment. The primary aim of STEPbySTEP is to propose a modular framework - including a specialized staircase design, tentative metrics, and testing protocols - to aid in evaluating and comparing exoskeleton performance. Here, we present the testbed and protocols developed and validated in preliminary trials using three exoskeletons: two lower-limb exoskeletons (LLEs) and one back-support exoskeleton. The results offer initial insights into the adaptability of the staircase testbed across devices, showcasing example metrics and protocols that underscore its benchmarking potential.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e17"},"PeriodicalIF":3.4,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12034579/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144033381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Toward model-based individualized fitting of hip-flexion exosuits for persons with unilateral transfemoral amputation. 基于模型的单侧经股截肢患者髋关节屈曲外服个性化拟合研究。
IF 3.4
Wearable technologies Pub Date : 2025-03-12 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.5
Finn G Eagen, Nicholas P Fey
{"title":"Toward model-based individualized fitting of hip-flexion exosuits for persons with unilateral transfemoral amputation.","authors":"Finn G Eagen, Nicholas P Fey","doi":"10.1017/wtc.2025.5","DOIUrl":"10.1017/wtc.2025.5","url":null,"abstract":"<p><p>The muscular restructuring and loss of function that occurs during a transfemoral amputation surgery has a great impact on the gait and mobility of the individual. The hip of the residual limb adopts a number of functional roles that would previously be controlled by lower joints. In the absence of active plantar flexors, swing initiation must be achieved through an increased hip flexion moment. The high activity of the residual limb is a major contributor to the discomfort and fatigue experienced by individuals with transfemoral amputations during walking. In other patient populations, both passive and active hip exosuits have been shown to positively affect gait mechanics. We believe an exosuit configured to aid with hip flexion could be well applied to individuals with transfemoral amputation. In this article, we model the effects of such a device during whole-body, subject-specific kinematic simulations of level ground walking. The device is simulated for 18 individuals of K2 and K3 Medicare functional classification levels. A user-specific device profile is generated via a three-axis moment-matching optimization using an interior-point algorithm. We employ two related cost functions that reflect an active and passive form of the device. We hypothesized that the optimal device configuration would be highly variable across subjects but that variance within mobility groups would be lower. From the results, we partially accept this hypothesis, as some parameters had high variance across subjects. However, variance did not consistently trend down when dividing into mobility groups, highlighting the need for user-specific design.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e16"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11950789/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143756338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Characterizing eye gaze and mental workload for assistive device control. 确定眼球注视和脑力劳动负荷对辅助设备控制的影响。
IF 3.4
Wearable technologies Pub Date : 2025-03-03 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2024.27
Larisa Y C Loke, Demiana R Barsoum, Todd D Murphey, Brenna D Argall
{"title":"Characterizing eye gaze and mental workload for assistive device control.","authors":"Larisa Y C Loke, Demiana R Barsoum, Todd D Murphey, Brenna D Argall","doi":"10.1017/wtc.2024.27","DOIUrl":"10.1017/wtc.2024.27","url":null,"abstract":"<p><p>Eye gaze tracking is increasingly popular due to improved technology and availability. In the domain of assistive device control, however, eye gaze tracking is often used in discrete ways (e.g., activating buttons on a screen), and does not harness the full potential of the gaze signal. In this article, we present a method for collecting both reactionary and controlled eye gaze signals, via screen-based tasks designed to isolate various types of eye movements. The resulting data allows us to build an individualized characterization for eye gaze interface use. Results from a study conducted with participants with motor impairments are presented, offering insights into maximizing the potential of eye gaze for assistive device control. Importantly, we demonstrate the potential for incorporating direct continuous eye gaze inputs into gaze-based interface designs; generally seen as intractable due to the 'Midas touch' problem of differentiating between gaze movements for perception versus for interface operation. Our key insight is to make use of an individualized measure of smooth pursuit characteristics to differentiate between gaze for control and gaze for environment scanning. We also present results relating to gaze-based metrics for mental workload and show the potential for the concurrent use of eye gaze for control input as well as assessing a user's mental workload both offline and in real-time. These findings might inform the development of continuous control paradigms using eye gaze, as well as the use of eye tracking as the sole input modality to systems that share control between human-generated and autonomy-generated inputs.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e13"},"PeriodicalIF":3.4,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11894411/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Enhancing dexterity: Soft pneumatic actuation utilizing granular jamming for a human finger flexo-extension. 增强灵活性:利用颗粒干扰的软气动装置实现人类手指的屈伸。
IF 3.4
Wearable technologies Pub Date : 2025-03-03 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2024.29
X Yamile Sandoval-Castro, J German Cortes-Gonzalez, Maximiano F Ruiz-Torres, Eduardo Castillo-Castaneda, Med Amine Laribi
{"title":"Enhancing dexterity: Soft pneumatic actuation utilizing granular jamming for a human finger flexo-extension.","authors":"X Yamile Sandoval-Castro, J German Cortes-Gonzalez, Maximiano F Ruiz-Torres, Eduardo Castillo-Castaneda, Med Amine Laribi","doi":"10.1017/wtc.2024.29","DOIUrl":"10.1017/wtc.2024.29","url":null,"abstract":"<p><p>This article presents a bioinspired pneumatic soft actuator designed to mimic the flexo-extension movement of the human finger, with a particular focus on stiffness modulation through granular jamming. Three-chamber geometries - honeycomb, rectangular, and half-round - were evaluated to optimize curvature performance, utilizing Mold Star 15 Slow elastomer for actuator fabrication. Granular jamming, both passive and active, was implemented within the inextensible layer using chia and quinoa grains to enhance stiffness modulation. Experimental results revealed that the honeycomb geometry most closely aligned with the natural index finger trajectory. Stiffness evaluations demonstrated a range of 0-0.47 N/mm/° for quinoa and 0-0.9 N/mm/° for chia. The actuator's force output increased by 16% for quinoa and 71% for chia compared to the nonjammed configuration. This enhanced performance is particularly beneficial for applications such as hand rehabilitation, where adaptive stiffness and force modulation are critical. Granular jamming, especially with active chia, provided superior adaptability for tasks requiring variable stiffness and resistance, making it a promising candidate for wearable robotic applications in rehabilitation.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e15"},"PeriodicalIF":3.4,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11894425/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607471","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Identifying right and left impact using the derivative of linear resultant acceleration from a single sacrum-mounted IMU. 利用安装在骶骨上的单个 IMU 的线性结果加速度导数来识别左右撞击。
IF 3.4
Wearable technologies Pub Date : 2025-02-28 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2025.4
Aida Chebbi, Rachel M Robinson, Seth R Donahue, Michael E Hahn
{"title":"Identifying right and left impact using the derivative of linear resultant acceleration from a single sacrum-mounted IMU.","authors":"Aida Chebbi, Rachel M Robinson, Seth R Donahue, Michael E Hahn","doi":"10.1017/wtc.2025.4","DOIUrl":"10.1017/wtc.2025.4","url":null,"abstract":"<p><p>This study introduces a novel method for gait analysis using a single inertial measurement unit placed on the sacrum. This method is valid not only on level ground but also on incline and decline conditions. The method leverages the \"crackle\" function, the third derivative of the sacral resultant acceleration, to identify right and left gait events. This approach is particularly effective in capturing the initial peak in acceleration data during foot impact with the ground, often overlooked by other methods. The study aimed to demonstrate the method's accuracy in identifying the right- and left-side impacts during level ground, incline, and decline runs across a range of speeds. Additionally, the algorithm was applied in outdoor running scenarios, where it performed very well, further validating its robustness and reliability. The results are compared with other existing methods to highlight the effectiveness of this approach.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e14"},"PeriodicalIF":3.4,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11894424/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Force control of motion teaching suit using serial-connected pneumatic artificial muscles for actuation and estimation. 采用串联气动人工肌肉作驱动和估计的运动教学服力控制。
IF 3.4
Wearable technologies Pub Date : 2025-02-26 eCollection Date: 2025-01-01 DOI: 10.1017/wtc.2024.30
Tetsuro Miyazaki, Yoshihide Tomita, Kenji Kawashima
{"title":"Force control of motion teaching suit using serial-connected pneumatic artificial muscles for actuation and estimation.","authors":"Tetsuro Miyazaki, Yoshihide Tomita, Kenji Kawashima","doi":"10.1017/wtc.2024.30","DOIUrl":"10.1017/wtc.2024.30","url":null,"abstract":"<p><p>Machine - human interaction systems have been proposed to improve motion learning efficiency. We developed a pneumatic-driven motion teaching system that provides feedback to the learner by simultaneously presenting visual and torque information. We achieved a lightweight, soft, and user-safety haptic system using a pneumatic artificial muscle (PAM). The PAM's shrink force was estimated based on its characteristic model and the suit link system, and the suit generated external torque. However, accurate force control was challenging due to the time delay of the feedback control, the loosening of the soft suit, and modeling errors of the driving PAM caused by hysteresis. To improve the force control performance of the motion teaching suit, this article's contributions are to develop a novel suit in which PAMs for drive and force estimation are connected in series and implement a 2-degree-of-freedom (DOF) force control system using force estimation values in this suit and to confirm the effectiveness of the proposed hardware and software. This article contains three topics: (a) the development of novel suit hardware, (b) force estimation using a sealed small PAM, and (c) a proposal of force control using a 2-DOF controller. The effect of loosening the soft suit is reduced in the novel-developed suit. A sealed small PAM with small deformation and little hysteresis is adopted for force estimation. The time delay in feedback control is decreased by adopting the proposed novel 2-DOF control. Finally, the proposed suit and its control system were evaluated in experiments and achieved the desired performance.</p>","PeriodicalId":75318,"journal":{"name":"Wearable technologies","volume":"6 ","pages":"e10"},"PeriodicalIF":3.4,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11894422/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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