Wearable robots
Design and Control
Lecture 1
Introduction
Mohamed Hamdy Abdelhafiz
2024
What is a wearable
robot ? Wearable robots can be defined as those robots
worn by human operators, whether to
supplement the function of a limb or to replace it
completely.
Exoskeletons are the ones in which the cognitive
(information) and physical (power) interactions
with the human operator are most intense.
Wearable robots may operate alongside human
limbs, as in the case of orthotic robots or
exoskeletons, or they may substitute for missing
limbs, for instance following an amputation.
History of wearable
robot (industry) • Work on exoskeletons began in the early 1960s.
The US Department of Defense became
interested in developing the concept of a
powered ‘suit of armor’. At the same time, at
Cornel Aeronautical Laboratories work started
to develop the concept of man–amplifiers –
manipulators to enhance the strength of a
human operator.
• General Electric Co. further developed the
concept of human–amplifiers through the
Hardiman project from 1966 to 1971. The
Hardiman concept was more of a robotic
master–slave configuration.
Hardiman project
History of wearable • Rehabilitation and functional compensation
robot (rehabilitation) exoskeletons are another classic field of application for
wearable robotics.
• From an ordinary-appearing wheelchair, the Pneumatic
Body frame will transform into a light exoskeleton which
will allow the Scientist to walk about normally. Even
running and jumping are not beyond its capabilities, all
controlled by the power of the user’s mind.
• The concept introduced by Prof. Wangenstein in 1883
contains the main features of current state of-the-art
wearable robotic exoskeletons: a pneumatically actuated
body frame (in the form of a light exoskeleton), mapping
on to the human lower limb, in which a cHRI is
established by means of brain activity electrodes.
• Among the spinoff applications of robotic extenders are
robotic upper limb orthoses (Rabischong, 1982).
• The first active implementations of powered orthoses
were the work of Rahman et al. (2000).
Prof. Wangenstein, 1883
Types of wearable
robot
Prosthetic robots:
A prosthesis is an electromechanical device that
substitutes for lost limbs after amputation.
The prostheses take the form of electromechanical
wearable robotic limbs and make it possible to
replace the lost limb function in a way that is closer to
the natural human function.
This is achieved by intelligent use of robotics
technologies in terms of human–robot interaction
(comprising sensing and control) and actuation
Types of wearable Orthotic exoskeleton robots:
robot An orthosis is a mechanical structure that maps on
to the anatomy of the human limb.
Its purpose is to restore lost or weak functions, e.g.
following a disease or a neurological condition, to
their natural levels. The robotic counterparts of
orthoses are robotic exoskeletons.
In this case, the function of the exoskeleton is to
complement the ability of the human limb and
restore the handicapped function
Types of wearable
robot
Empowering robotic exoskeletons:
These were originally called extenders (Kazerooni,
1990) and were defined as a class of robots that
extends the strength of the human beyond its
natural ability while maintaining human control
of the robot.
A specific and singular aspect of extenders is that
the exoskeleton structure maps on to the human
actor’s anatomy.
• Electric Motors: Common in prosthetics and
Types of Actuators exoskeletons for precise control and high
responsiveness.
• Pneumatic Actuators: Used in soft robotics for
flexible, lightweight movement, mimicking
muscle behavior.
• Hydraulic Actuators: High force output, used in
heavy-duty exoskeletons, though bulky and less
energy-efficient.
• Shape Memory Alloys: Lightweight materials that
change shape in response to electrical currents.
Biomechatronics
• The scope of biomechatronics is broader in three distinctive
aspects:
Firstly, biomechatronics intrinsically includes bioinspiration in
the development of mechatronic systems, e.g. the development
of bioinspired mechatronic components (control architectures,
actuators, etc.).
secondly, biomechatronics deals with mechatronic systems in
close interaction with biological systems, e.g. a wearable robot
interacting cognitively and physically with a human; and,
finally, biomechatronics commonly adopts biologically inspired
design and optimization procedures in the development of
mechatronic systems, e.g. the adoption of genetic algorithms in
the optimization of mechatronic components or systems.
Biomechatronics
(bioinspired systems)
Biomechatronics
(bioinspired systems)
Biomechatronics
(bioinspired systems)
Conventional Glove
BioGlove
DIP joint
DIP joint
PIP joint
PIP joint
Biomechatronics
(bioinspired systems)
Biomechatronics
(bioinspired systems)
PIP joint DIP joint PIP joint
Conventional Glove
BioGlove
Biomechatronics
(Interaction with biological systems)
Exoskeleton controlled by Muscles activity Assistive device controlled by brain activity
Biomechatronics
(Interaction with biological systems)
Voice-controlled exoskeleton Eye tracking based controller
Human Robot Interaction HRi
• The key distinctive aspect in wearable robots is their intrinsic
dual cognitive and physical interaction with humans.
• Cognitive and physical interactions are not independent.
• On the one hand, a perceptual cognitive process in the
human can be triggered by physical interaction with the
robot. One example is a wearable robot physically interacting
with an operator to render haptic information on a virtual or
remote object, so that the operator can feel the object (soft or
rigid)
• On the other hand, the cognitive interaction can be used to
modify the physical interaction between human and robot,
for instance to alter the compliance of an exoskeleton. One
example is tremor suppression based on exoskeleton–human
interaction.
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Human Robot Interaction HRi
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Rigid Control
• Rigid control is a control strategy used in
industrial robots where precise position control is
maintained without taking into account external
forces or environmental interactions.
• The primary goal is to achieve accurate
positioning and movement, ensuring each joint
or actuator follows a predefined trajectory.
• Risk of damage if unintended contact occurs with
objects or people.
Soft Control
Soft Control
Controller Hierarchy
VariLeg, ETH zurich
Energy Efficiency
• Energy Efficiency: Critical for long-term usability;
battery life is a significant limitation.
• Battery Types: Commonly used lithium-ion
batteries, though research is ongoing into
supercapacitors.
• Weight vs. Capacity Trade-off: Balancing power
supply weight with energy demands
• Energy Harvesting: Emerging technologies that
generate power from user movement (e.g., kinetic
energy harvesting)
Energy Efficiency
Muscle model
Mohamed Hamdy Abdelhafiz
Thank you 01003399032
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