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Transparency control of exoskeleton robots

Grant number: 19/10773-3
Support type:Scholarships in Brazil - Master
Effective date (Start): January 01, 2020
Effective date (End): July 31, 2021
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Thiago Boaventura Cunha
Grantee:Victor Tamassia Noppeney
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated research grant:13/07276-1 - CEPOF - Optics and Photonic Research Center, AP.CEPID


Exoskeleton robots, characterized by its anthropomorphism and operation under intrinsic contact with a human being (its user), represent a high level of human-machine interaction, in which advances in robotics are used in order to expand the limits of human beings, in areas such as rehabilitation of people with locomotion problems, reduction of metabolic rate during execution of a certain task, carrying high mass loads or user force amplification. However, such benefits are valuable only if the exoskeleton moves itself while keeping harmony and sync relative to its user, so that the latter does not feel discomfort or has to make additional effort while utilizing the wearable robot. Such a concept is named transparency, and is attainable by means of combining sensing, estimation, control and actuation systems. This work aims at studying the proposals that pursue transparency at the State-of-the-art and present new ways of pursuing this objective as well as combining and adapting existing results, in order to create a comprehensive platform that delivers the exoskeleton user the best attainable level of transparency. (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
NOPPENEY, VICTOR T.; BOAVENTURA, THIAGO; MEDEIROS, KLAUS; VAROTO, PAULO. A tutorial on a multi-mode identification procedure based on the complex-curve fitting method. JOURNAL OF VIBRATION AND CONTROL, . (18/15472-9, 19/10773-3)
OKLE, JAN; NOPPENEY, VICTOR TAMASSIA; BOAVENTURA, THIAGO. Certification of linear closed-loop controllers using the nu-gap metric and the generalized stability margin. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 7, . (18/15472-9, 19/10773-3)
NOPPENEY, VICTOR; BOAVENTURA, THIAGO; SIQUEIRA, ADRIANO. Task-space impedance control of a parallel Delta robot using dual quaternions and a neural network. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 9, . (19/10773-3, 18/15472-9)

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