Towards the Next Generation of Rehabilitation Robots: Introduction to ANYexo

A summary video to our RA-L and IROS 2019 paper: "ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot"
IEEE: ieeexplore.ieee.org/abstract/...
Open Access: www.research-collection.ethz....
LinkedIn: / yves-dominic-zimmermann
Paper Abstract:
This letter presents a versatile upper-limb exoskeleton based on low-impedance torque controllable series elastic actuators. This experimental platform is designed to validate novel algorithms and hardware concepts for more autonomous therapy of moderately and severely affected patients with a neural impairment. The design is optimized to achieve a large range of motion (ROM) and robust interaction force control to best mimic the compliant and accurate haptic interaction of therapists. The presented robot covers the relevant ROM required for activities of daily life (ADL) particularly, including poses close to the torso, head, and behind the back. The kinematics are optimized for high manipulability during ADL and low inertia. We use modified modular series elastic actuators that provide the required power and torque control performance. We demonstrate highly transparent behavior up to speeds of 11 rad/s with a feed-forward torque controller based on an accurate dynamic model. The presented robot unites a large ROM with optimized manipulability, high nominal power to weight ratio (111 W/kg), accurate torque control at speeds sufficient for unconstrained recovery of patients, and versatility for a broad variety of experiments in one device. To our knowledge, no other device is tailored to such an extent for this application.
Force torque sensors used: www.botasys.com/rokubi

[@tommypratama8174]

Wow, great work!

[@oliviagreen6062]

Looks very efficient in performing everyday tasks!

[@r.s.e.9846]

Great Work

[@MadComputerScientist]

Awesome, robots for helping people! ^_^
Good work, looks great.

[@leggedrobotics]

Thanks!

[@MaksymCzech]

We live in a society!

[@Frankx520]

I like your smile. Great WORK!

[@Frankx520]

9:07

[@leggedrobotics]

Thanks!

[@sergeikostin1066]

Nice, great work! Have you tried connecting sensor feedback to ROS?

[@leggedrobotics]

Thanks! In a publication for IROS 2020 we are presenting closed-loop interaction force control using two 6-DOF force sensors and IMUs as feedback signals. In a second publication for IROS 2020 we show how to use depth sensors to avoid collisions online.
Look out for:
"Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton"
and
"Physical Human-Robot Interaction with Real Active Surfaces Using Haptic Rendering on Point Clouds"
They should be published late October.

[@MrLeocars97]

@@leggedrobotics transparency control! very good!

[@rokaterinskii]

Great.

[@leggedrobotics]

Thanks!

[@jubinmathew7636]

Is it an emergency switch with him in his right hand or is it to enable or disable the dynamic compensation

[@kingmasterlord]

you can sell these to everybody tune them to resistance instead of assistance as a fitness aid

[@gopszone1564]

I want this what is the price