Group-2 : LOPES Exoskeleton Robot :

Design and Evaluation

Mentor:
by: Chelva Kumar
Prof.
Prof. Vineeth Vashistha

Presented
Amber

Kothari

Devendra
Meena
Kanak
Sharma
Ojas Joshi

Objective and Motivation

Design of robots for the mechanization of physical therapy
The goal of the LOPES project (Lower-extremity Powered Exoskeleton)
is to develop a robotic device (LOPES) for gait training and assessment
of motor function in stroke survivors.
Integrate Human Intelligence with physical strength of a
mechanical robot.

Mechanism : Impedance controlled device

(LOPES 1)
Outline applied on robotic therapy.
Position sensing along with force
actuation.
DOF : An optimal set of DOFs was
chosen in order to allow for a
subject to walk normally and safely
in the device. 8 DOFs were chosen
based on the experiences with the
existing devices.
These DOFs allowed the exoskeleton
to make a forward stepping motion
while maintaining fundamental
instability of a standing/walking
human

Performance

Evaluation and Results

Evaluation and Results

EMG amplitudes were compared for eight muscles at zero
impedance.
Zero impedance implies patient in charge mode.
Tests were done on healthy subject.
Graphs showed similar trend with respect to Human
without LOPES and with LOPES.

User Requirements (LOPES 2)

Quick donning and doffing
Allow for motion occurring invariability of gate
Provide Assistance as needed (ANA)
Should have transparent movement.
Ensure Safety

Design Description (LOPES 2)

Use of control loading actuation system near thigh and pelvis section
(recommended for high loading operations) these are compact motor ball
screw capable of generating 2400 N continuously.
Force sensors are mounted near to patient to measure force between the
LOPES 2 and patient.
Patient is suspended to harness connected to the bodyweight pneumatic
bodyweight support system (BWS). It contains settable end stop limit
which prevents from falling.

Design Description
Introduction of fixed base actuators minimized the
moving mass of the robot
Motor torques were transferred to the patient using
light and stiff push/pull rods
The push/pull rods connect the segments of the patient
leg to the corresponding segments of an artificial
shadow leg
The angles of the shadow leg are directly related to the
angles of the patient leg and thus, given the limb
lengths and the shadow angles, patient joint angles can
be calculated exactly

Actuation Description
The actuators and human segments were connected using rods
with gearing
The following systems were used for actuation:
i. Moong Control loading actuator CL-R-E-/MD/40Nm
(C40): For thigh flexion, abduction and pelvis lateral
motion
ii. Moong Control loading actuator CL-R-E-/MD/100Nm
(C100): For shank flexion and pelvis anterior posterior
motion

The actuators are linked to the segments as follows:

The shadow hip is attached to a stage that is actuated in
the horizontal plane (d and e).
Thigh flexion of the shadow leg is actuated by b.
Shank rotation of the shadow leg is actuated by a.
Abduction to the shadow leg is actuated by c

The angles of the shadow leg are directly related to the angles of the
patient leg and thus, given the limb lengths and the shadow angles,
patient joint angles can be calculated exactly

An optical tracking system (Visualeyez VZ4000, PTI,

Burnaby, Canada)using markers on different segments and
LOPES structure was employed to calculate the accuracy of
segment positions and angles calculated by LOPES2

VERIFY!!

Data was recorded for walking speeds of 1.5 km/h &

2.5km/h with support levels of 0%,10% and 100%
Segment position and angles were calculated from the data
Above calculations and calculations from LOPES 2 data
were compared using RMSE

The main contributors of position inaccuracies are clamps and human tissues!!

Controller(LOPES 2)
Graphical User Interface (GUI)
Support Level based on the degree of handicap
Selective Support to make free movements

Gait Trajectory Controller

Joint Trajectory Generation using certain reference points
Sets stiffness level accordingly

Admittance Controller
Converts gait trajectories into actuator data points
Controls Virtual Moments of Inertia based on the current stance or position
Feedback from Sensors

LOPES 1 vs LOPES
2
Eco-skeleton vs Shadow Leg

Ankle Support
Donning Time Reduction
Compact system
Moment of Inertia (8 vs 11)
Arm swing possible as no obstruction due to structure in
LOPES 2
Small alignments don not cause stress

Selective Support

Evaluation and Results

References
https://www.utwente.nl/ctw/bw/RESEARCH/PROJECTS/LOPE
S/INDEX.HTML
http://ieeexplore.ieee.org/stamp/stamp.jsp?
arnumber=5424007