Optimal Synthesis and Development of a Lower Limb Exoskeleton Control System with Gravity-Independent Suspension
Optimal Synthesis and Development of a Lower Limb Exoskeleton Control System with Gravity-Independent Suspension |
||
 |
 |
|
| © 2024 by IJETT Journal | ||
| Volume-72 Issue-12 |
||
| Year of Publication : 2024 | ||
| Author : Askhat Karim, Sayat Ibrayev, Nurlan Apakhayev, Sandugash Khushkeldiyeva, Abdulaziz Biyakhmet |
||
| DOI : 10.14445/22315381/IJETT-V72I12P101 | ||
How to Cite?
Askhat Karim, Sayat Ibrayev, Nurlan Apakhayev, Sandugash Khushkeldiyeva, Abdulaziz Biyakhmet, "Optimal Synthesis and Development of a Lower Limb Exoskeleton Control System with Gravity-Independent Suspension," International Journal of Engineering Trends and Technology, vol. 72, no. 12, pp. 1-13, 2024. Crossref, https://doi.org/10.14445/22315381/IJETT-V72I12P101
Abstract
The relevance of the study is due to the need to develop innovative technologies that can increase the mobility and efficiency of people in different gravitational environments, which has the potential to have a substantial impact on the fields of medicine, industry, and space activities. This study aims to analyse the control system of the exoskeleton for the lower limb with a gravity-independent suspension to identify possible improvements and optimisations in its functionality and efficiency. Among the methods used are the analytical, classification, functional, statistical, and synthesis methods. The control system of the exoskeleton for the lower limb with a gravity-independent suspension was thoroughly analysed. The mechanical design had to be optimised for ergonomics and weight, and the electronics included advanced sensors and microcontrollers for precise control. The software should include algorithms for stabilisation and adaptation to the environment. Energy management should be designed to extend battery life. The exoskeleton must comply with safety and ergonomics standards. The possibilities of scaling production and user training are considered, which makes this system promising for medical and industrial fields and emphasises its potential in training and integration into everyday life. The analysis of the innovative control system of an exoskeleton with a gravity-independent suspension in this study has prospects for use in medicine, increasing efficiency in industry and maintaining mobility in various gravity conditions, opening up new horizons in the field of technological solutions to improve the quality of life.
Keywords
Mechanical design, Safety standards, Adjustable mechanism, Analysis, Energy management.
References
[1] Dauren Bizhanov et al., “Review and Analysis of Upper Limb Exoskeletons for Rehabilitation,” Bulletin of Kazatk, vol. 124, no. 1, pp. 315-323, 2023.
[CrossRef] [Publisher Link]
[2] N.I. Liseichikov, and I.N. Shcherbak, “Justification of criteria and features of exoskeleton modelling,” Bulletin of Science of S.Seifullin Kazakh Agro Technical University, vol. 1, no. 80, pp. 111-118, 2014.
[Google Scholar]
[3] Nursultan Zhetenbayev et al., “Exoskeleton for the Ankle Joint Design and Control System,” International Conference on Communications, Information, Electronic and Energy Systems (CIEES), Veliko Tarnovo, Bulgaria, pp. 1-6, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[4] Oleksandr Zubkov, and Victor Torchynskyi, “Effect of Pelvic Tilt on Changing the Centre of Rotation of The Hip Joint in Preoperative Planning,” Bulletin of Medical and Biological Research, vol. 6, no. 1, pp. 24-33, 2024.
[CrossRef] [Publisher Link]
[5] Gani Balbayev, Nursultan Zhetenbaev, and Erzhan Seitkulov, “Brief Description of The Development of a Robotic Exoskeleton for The Ankle Joint,” Bulletin of KazATC, vol. 121, no. 2, pp. 282-293, 2022.
[CrossRef] [Publisher Link]
[6] Nursultan Zhetenbayev, Gani Balbayev, and Aitolkyn Rysbek, “Powered Ankle Exoskeletons: Modern Configurations and Control Mechanisms,” Bulletin of KazATC, vol. 127, no. 4, pp. 262-275, 2023.
[CrossRef] [Publisher Link]
[7] Vladimir G. Krasilenko et al., “Optical Pattern Recognition Algorithms on Neural-Logic Equivalental Models and Demonstration of Their Prospectiveness and Possible Implementations,” Proceedings, Optical Pattern Recognition XII, Orlando, FL, United States, vol. 4387, pp. 247-260, 2001.
[CrossRef] [Google Scholar] [Publisher Link]
[8] Yu. Ya. Bondarenko, and G. K. Kalakova, “Social and Humanitarian Aspects of University Training of It Technology Specialists,” Proceedings of The International Scientific and Practical Conference “SULTANGAZINSKIE CHENIYA-2023”, pp. 163-165, 2023.
[Publisher Link]
[9] Tao Wang et al., “A Review on The Rehabilitation Exoskeletons for The Lower Limbs of The Elderly and The Disabled,” Electronics, vol. 11, no. 3, pp. 1-16, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[10] S. Raja et al., “Unlocking the Potential of Polymer 3D Printed Electronics: Challenges and Solutions,” Applied Chemical Engineering, vol. 7, no. 2, pp. 1-12, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[11] Raja Subramani et al., “Selection and Optimization of Carbon-Reinforced Polyether Ether Ketone Process Parameters in 3D Printing-A Rotating Component Application,” Polymers, vol. 16, no. 10, pp. 1-17, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[12] D. Shi, W. Zhang, W. Zhang, and X. Ding, “A Review on Lower Limb Rehabilitation Exoskeleton Robots,” Chinese Journal of Mechanical Engineering, vol. 32, no. 1, pp. 1-11, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[13] Grzegorz Wojdala et al., “A Comparison of Electromyographic Inter-Limb Asymmetry during a Standard versus a Sling Shot Assisted Bench Press Exercise,” Journal of Human Kinetics, vol. 83, pp. 223-234, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[14] Thomas J. Cunningham, “Three-Dimensional Quantitative Analysis of The Trajectory of The Foot While Running,” University of Kentucky Master’s Theses, Lexington, Kentucky, 2007.
[Google Scholar] [Publisher Link]
[15] Tomoyoshi Sakaguchi et al., “The Most Significant Factor Affecting Gait and Postural Balance in Patients’ Activities of Daily Living Following Corrective Surgery for Deformity of the Adult Spine,” Medicina, vol. 58, no. 8, pp. 1-8, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[16] B. Koopman, E. H. F. van Asseldonk, and H. van der Kooij, “Speed-Dependent Reference Joint Trajectory Generation for Robotic Gait Support,” Journal of Biomechanics, vol. 47, no. 6, pp. 1447-1458, 2014.
[CrossRef] [Google Scholar] [Publisher Link]
[17] Jennifer L. Lelas et al., “Predicting Peak Kinematic and Kinetic Parameters from Gait Speed,” Gait and Posture, vol. 17, no. 2, pp. 106-112, 2003.
[CrossRef] [Google Scholar] [Publisher Link]
[18] Hao Lee, Peter Walker Ferguson, and Jacob Rosen, “Lower Limb Exoskeleton Systems-Overview,” Wearable Robotics, Systems and Applications, pp. 207-229, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[19] Māra Pētersone et al., “Strategic Purchasing and Health System Efficiency: Prospects for Health Sector Reform in Latvia,” WSEAS Transactions on Business and Economics, vol. 17, pp. 41-50, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[20] Nursultan Zhetenbayev et al., “Investigation of a Passive Ankle Joint Exoskeleton Designed for Movements with Dorsal and Plantar Flexion †,” Engineering Proceedings, vol. 41, no. 1, pp. 1-11, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[21] Svitlana Symonenko et al., “Development of Communicative Competence as A Precondition of Competitive Software Engineer Formation,” Modern Development Paths of Agricultural Production, pp. 307-315, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[22] O. Kyzymchuk, and L. Melnyk, “Measurement Methods for Contact Pressure of Compression Knitted Garment,” Technologies and Engineering, vol. 2, pp. 46-59, 2022.
[CrossRef] [Publisher Link]
[23] Nurila Maltabarova et al., “Innovation Technologies in Student's Independent Activity and Creativity Development: The Case of Medical Education,” International Journal of Emerging Technologies in Learning, vol. 14, no. 11, pp. 32-40, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[24] Oleksandr Pidpalyi, “Future Prospects: AI and Machine Learning in Cloud-Based SIP Trunking,” Bulletin of Cherkasy State Technological University, vol. 29, no. 1, pp. 24-35, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[25] F. Ahmadov et al., “Investigation of Parameters of New MAPD-3NM Silicon Photomultipliers,” Journal of Instrumentation, vol. 17, no. 1, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[26] Nursultan Zhetenbayev et al., “Robot Device for Ankle Joint Rehabilitation: A Review,” Vibroengineering Procedia, vol. 41, pp. 96-102, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[27] Nurlan Zhangabay et al., “Analysis of The Influence of Thermal Insulation Material on The Thermal Resistance of New Facade Structures with Horizontal Air Channels,” Case Studies in Construction Materials, vol. 18, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[28] Jinman Zhou, Shuo Yan, and Qiang Xu, “Lower Limb Rehabilitation Exoskeleton Robot: A Review,” Advances in Mechanical Engineering, vol. 13, no. 4, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[29] Oleksii Zarichuk, “Comparative Analysis of Frameworks for Mobile Application Development: Native, Hybrid, Or Cross-Platform Solutions,” Bulletin of Cherkasy State Technological University, vol. 28, no. 4, pp. 19-27, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[30] A. Khrutskiy et al., “Virtual Laboratory Workshop on Research Planning,” Mining Journal of Kryvyi Rih National University, vol. 21, no. 1, pp. 152-158, 2023.
[Publisher Link]
[31] Dmytro Petryna, Volodymyr Kornuta, and Olena Kornuta, “Using Neural Network Tools to Accelerate the Development of Web Interfaces,” Information Technologies and Computer Engineering, vol. 21, no. 2, pp. 42-50, 2024.
[Publisher Link]
[32] Yuanxi Sun et al., “From Sensing to Control of Lower Limb Exoskeleton: A Systematic Review,” Annual Reviews in Control, vol. 53, pp. 83-96, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[33] L. F. Sukhodub et al., “Effect of Magnetic Particles Adding into Nanostructured Hydroxyapatite-Alginate Composites for Orthopedics,” Journal of the Korean Ceramic Society, vol. 57, pp. 557-569, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[34] O.V. Chernets et al., “Electric Arc Steam Plasma Conversion of Medicine Waste and Carbon Containing Materials,” 17th International Conference on Gas Discharges and Their Applications, Cardiff, UK, pp. 465-468, 2008.
[Google Scholar] [Publisher Link]
[35] Vitaliy P. Babak et al., “Models and Measures for the Diagnosis of Electric Power Equipment,” Models and Measures in Measurements and Monitoring, vol. 360, pp. 99-126, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[36] Qiaoling Meng et al., “Flexible Lower Limb Exoskeleton Systems: A Review,” NeuroRehabilitation, vol. 50, no. 4, pp. 367-390, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[37] Volodymyr Khotsianivskyi, and Victor Sineglazov, “Robotic Manipulator Motion Planning Method Development Using Neural Network-Based Intelligent System,” Machinery and Energetics, vol. 14, no. 4, pp. 131-145, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[38] Fahad Hussain, Roland Goecke, and Masoud Mohammadian, “Exoskeleton Robots for Lower Limb Assistance: A Review of Materials, Actuation, And Manufacturing Methods,” Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 235, no. 12, pp. 1375-1385, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[39] Bhaben Kalita, Jyotindra Narayan, and Santosha Kumar Dwivedy, “Development of Active Lower Limb Robotic-Based Orthosis and Exoskeleton Devices: A Systematic Review,” International Journal of Social Robotics, vol. 13, pp. 775-793, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[40] Ihor K. Venher et al., “Endovascular Angioplasty for Multi-Level Stenotic-Occlusive Lesions of The Femoral-Distal Arterial Bed in Cases of Stenotic-Occlusive Process of The Tibial Arteries,” International Journal of Medicine and Medical Research (IJMMR), vol. 8, no. 1, pp. 48-54, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[41] A. K. Karmalita, and S. I. Pundyk, “Methods of Controlling the Position of Flat Parts of Shoe by Asymmetry of The Surface Properties,” Technologies and Engineering, vol. 1, pp. 50-59, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[42] O. Ponomarenko, “Reconstructive Surgery of Severe Damages of Lower Extremities Integument After Injury,” International Journal of Medicine and Medical Research, vol. 4, no. 2, pp. 36-43, 2018.
[CrossRef] [Google Scholar] [Publisher Link]
[43] Romain Baud et al., “Review of Control Strategies for Lower-Limb Exoskeletons to Assist Gait,” Journal of NeuroEngineering and Rehabilitation, vol. 18, no. 1, pp. 1-34, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[44] V. M. Pavlenko, P. O. Kurliak, and O. Y. Volianyk, “Designing A Control System for Mechanisms with Variable Imbalance,” Technologies and Engineering, vol. 6, pp. 41-52, 2023.
[CrossRef] [Publisher Link]
[45] Olena Ishchenko et al., “Physico-Mechanical and Pharmacotechnological Properties of Nimesulide Films Based on Modified Polysaccharides,” Technologies and Engineering, vol. 1, pp. 40-48, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[46] Māra Pētersone et al., “Network for Disease-Specific Networking Strategy to Increasing of Public Value: Latvia’s Approach,” Lecture Notes in Networks and Systems, International Conference on Applied Human Factors and Ergonomics, vol. 267, pp. 363-370, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[47] Ivan Andriievskyi et al., “Application of The Regression Neural Network for The Analysis of The Results of Ultrasonic Testing,” Machinery and Energetics, vol. 15, no. 1, pp. 43-55, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[48] Sebastian Glowinski et al., “Dynamic Model of a Humanoid Exoskeleton of a Lower Limb with Hydraulic Actuators,” Sensors, vol. 21, no. 10, pp. 1-20, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[49] Askhat Tagybayev et al., “Revealing Patterns of Thermophysical Parameters in The Designed Energy-Saving Structures for External Fencing with Air Channels,” Eastern-European Journal of Enterprise Technologies, vol. 4, no. 8(124), pp. 32-43, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[50] Zhenlei Chen et al., “Control and Implementation Of 2-DOF Lower Limb Exoskeleton Experiment Platform,” Chinese Journal of Mechanical Engineering, vol. 34, no. 22, pp. 1-17, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[51] Tomoyoshi Sakaguchi et al., “Evaluation and Rehabilitation After Adult Lumbar Spine Surgery,” Journal of Clinical Medicine, vol. 13, no. 10, pp. 1-23, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[52] Wujing Cao et al., “A Lower Limb Exoskeleton with Rigid and Soft Structure for Loaded Walking Assistance,” IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 454-461, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[53] Plaza, M. Hernandez, G. Puyuelo, E. Garces, and E. Garcia, “Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of The Current Designs,” IEEE Reviews in Biomedical Engineering, vol. 16, pp, 278-291, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[54] Luigi Aurelio Nasto et al., “Ponte Osteotomies for Treatment of Spinal Deformities: They Are Not All Made Equal,” European Spine Journal, vol. 33, pp. 2787-2793, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[55] Andrei Efremov, “Psychosomatics: Communication of the Central Nervous System through Connection to Tissues, Organs, and Cells,” Clinical Psychopharmacology and Neuroscience, vol. 22, no. 4, pp. 565-577, 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[56] Lukas Bergmann et al., “Lower Limb Exoskeleton with Compliant Actuators: Design, Modeling, and Human Torque Estimation,” IEEE/ASME Transactions on Mechatronics, vol. 28, no. 2, pp. 758-769, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[57] Zefeng Yan et al., “Development and Testing of a Wearable Passive Lower-Limb Support Exoskeleton to Support Industrial Workers,” Biocybernetics and Biomedical Engineering, vol. 41, no. 1, pp. 221-238, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[58] Bernhard Penzlin et al., “Design and First Operation of An Active Lower Limb Exoskeleton with Parallel Elastic Actuation,” Actuators, vol. 10, no. 4, pp. 1-20, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[59] Dmytro Belytskyi et al., “Application of Machine Learning and Computer Vision Methods to Determine the Size of NPP Equipment Elements in Difficult Measurement Conditions,” Machinery and Energetics, vol. 14, no. 4, pp. 42-53, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[60] Vitalii Babak et al., “The Heat Exchange Simulation in the Device for Measuring the Emissivity of Coatings and Material Surfaces,” IEEE 39th International Conference on Electronics and Nanotechnology (ELNANO), Kyiv, Ukraine, pp. 301-304, 2019.
[CrossRef] [Google Scholar] [Publisher Link]