Transparency control of exoskeleton robots

• Grant number: 19/10773-3
• Support Opportunities: Scholarships in Brazil - Master
• Start date: January 01, 2020
• End date: July 31, 2021
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Victor Tamassia Noppeney
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 13/07276-1 - CEPOF - Optics and Photonic Research Center, AP.CEPID

Abstract

Exoskeleton robots, characterized by its anthropomorphism and operation under intrinsic contact with a human being (its user), represent a high level of human-machine interaction, in which advances in robotics are used in order to expand the limits of human beings, in areas such as rehabilitation of people with locomotion problems, reduction of metabolic rate during execution of a certain task, carrying high mass loads or user force amplification. However, such benefits are valuable only if the exoskeleton moves itself while keeping harmony and sync relative to its user, so that the latter does not feel discomfort or has to make additional effort while utilizing the wearable robot. Such a concept is named transparency, and is attainable by means of combining sensing, estimation, control and actuation systems. This work aims at studying the proposals that pursue transparency at the State-of-the-art and present new ways of pursuing this objective as well as combining and adapting existing results, in order to create a comprehensive platform that delivers the exoskeleton user the best attainable level of transparency. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

NOPPENEY, VICTOR T.; BOAVENTURA, THIAGO; MEDEIROS, KLAUS; VAROTO, PAULO. A tutorial on a multi-mode identification procedure based on the complex-curve fitting method. JOURNAL OF VIBRATION AND CONTROL, JAN 2022. (18/15472-9, 19/10773-3)

OKLE, JAN; NOPPENEY, VICTOR TAMASSIA; BOAVENTURA, THIAGO. Certification of linear closed-loop controllers using the nu-gap metric and the generalized stability margin. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 7, JUL 2021. (18/15472-9, 19/10773-3)

NOPPENEY, VICTOR; BOAVENTURA, THIAGO; SIQUEIRA, ADRIANO. Task-space impedance control of a parallel Delta robot using dual quaternions and a neural network. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 9, SEP 2021. (19/10773-3, 18/15472-9)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

NOPPENEY, Victor Tamassia. Transparency-inspired tools for wearable robots. 2021. Master's Dissertation - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.