Bond Graph Modeling Of An Exoskeleton Actuator

This paper presents the bond graph approach as a graphical representation for the dynamic modeling of an exoskeleton actuator system, comprising electrical brushless DC motor, harmonic drive gearbox, torque sensor and human limb. The main purpose of this paper is to show some advantages of the bond graph method in order to model exoskeleton actuator systems for the better understanding of the system dynamics. A block diagram dynamic model of the system is briefly discussed and also for finding the friction model parameters and the friction torque, an experimental test has been carried out. Both the block diagram model and the bond graph model are simulated through MATLAB software and the bond graph simulation software 20-sim. Finally, simulation results in terms of two bond graph effort and flow variables are presented and discussed. The proposed work is generally applicable to extract dynamic model of all kind of wearable robot actuators.

[1]  Dean Karnopp,et al.  System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems , 1999 .

[2]  Dagmar Bednárová,et al.  Total Least Squares Approach to Modeling: A Matlab Toolbox , 2010 .

[3]  Béla Lantos,et al.  Control of mechanical systems with Stribeck friction and backlash , 2009, Syst. Control. Lett..

[4]  Mohammad Reza Emami,et al.  Modelling of a robotic leg using bond graphs , 2014, Simul. Model. Pract. Theory.

[5]  Wolfgang Borutzky.  Bond Graph Modelling And Simulation Of Mechatronic Systems An Introduction Into The Methodology , 2006 .

[6]  Ali Meghdari,et al.  Modeling of Human Lower Extremity Musculo-Skeletal Structure Using Bond Graph Approach , 2007 .

[7]  Vjekoslav Damic,et al.  Comparison of different formulations of 2D beam elements based on Bond Graph technique , 2009, Simul. Model. Pract. Theory.

[8]  Darwin G. Caldwell,et al.  Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton , 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[9]  Harold Klee,et al.  Simulation of Dynamic Systems with MATLAB and Simulink , 2007 .

[10]  Zhiyong Yang,et al.  Lower Extreme Carrying Exoskeleton Robot Adative Control Using Wavelet Neural Networks , 2008, 2008 Fourth International Conference on Natural Computation.

[11]  Chang-Soo Han,et al.  Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification , 2014 .

[12]  Paolo Rocco,et al.  Sensorless kinesthetic teaching of robotic manipulators assisted by observer-based force control , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[13]  A. B. W. Miranda,et al.  Upper limb exoskeleton control based on sliding mode control and feedback linearization , 2013, 2013 ISSNIP Biosignals and Biorobotics Conference: Biosignals and Robotics for Better and Safer Living (BRC).

[14]  Yang Tian,et al.  Modeling and control of 4-DOF powered upper limb exoskeleton , 2017, 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC).

[15]  M.A. Peshkin,et al.  Active-Impedance Control of a Lower-Limb Assistive Exoskeleton , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[16]  Paolo Fiorini,et al.  A Parallel-Elastic Actuator for a Torque-Controlled Back-Support Exoskeleton , 2018, IEEE Robotics and Automation Letters.

[17]  Darwin G. Caldwell,et al.  A wearable device for reducing spinal loads during lifting tasks: Biomechanics and design concepts , 2015, 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[18]  W.E. Dixon,et al.  A new continuously differentiable friction model for control systems design , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[19]  Xinyu Wu,et al.  Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches , 2015, 2015 IEEE International Conference on Information and Automation.

[20]  T. N. Madhusudan,et al.  A Review of Bond-Graph Representation Based Design Methodologies. , 1995 .

[21]  Chih-Ju Chou,et al.  Electromagnetic Characteristic Analysis of Circuit Breaker Actuator Using Bond Graph Method , 2017 .

[22]  Wen Yu,et al.  Modular design and modeling of an upper limb exoskeleton , 2014, 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics.

[23]  Hamid Reza Karimi,et al.  Bond graph modeling and simulation of wind turbine systems , 2013 .

[24]  H. Kazerooni,et al.  Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX) , 2006, IEEE/ASME Transactions on Mechatronics.