Special Issue "Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities"

A special issue of Designs (ISSN 2411-9660).

Deadline for manuscript submissions: 30 April 2021.

Special Issue Editors

Dr. Loris Roveda
E-Mail Website
Guest Editor
Istituto Dalle Molle di studi sull’Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Università della Svizzera Italiana (USI) IDSIA-SUPSI, 6928 Manno, Switzerland
Interests: control theory; industrial robots; optimization; artificial intelligence; robot control; task learning; dynamics modeling; dynamics identification; human–robot collaboration
Prof. Dr. Giovanni Legnani
E-Mail Website
Guest Editor
1. Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy; 2. Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy.
Interests: biomechanics of human motion; rehabilitation systems; robot kinematics; dynamics; control; calibration; mechanisms kinematics and dynamics
Dr. Jesús Ortiz
E-Mail Website
Guest Editor
Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, 16163, Genova, Italy.
Interests: exoskeletons; wearable robotics; exosuits; rehabilitation; mechatronics; human–robot interaction
Special Issues and Collections in MDPI journals

Special Issue Information

Dear Colleagues,

Assisting and empowering humans in daily activities is urgently required in all application areas (industry, rehabilitation, etc.). Collaborative robots and exoskeletons are becoming intensively adopted, and there is a need to refine both design and control methodologies in order to achieve high performance and improve usability, to finally effectively apply such solutions in real applications. Advanced solutions are nowadays available for actuation, design solutions, and control algorithms, but many challenges are still present in such device development. This Special Issue aims to cover the current developments in the field, with a specific focus on actuation, mechanical/electrical design, and advanced control. Contributions from different application fields are welcome.

Dr. Loris Roveda
Prof. Dr. Giovanni Legnani
Dr. Jesús Ortiz
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Designs is an international peer-reviewed open access quarterly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Collaborative robots design
  • Exoskeletons design
  • Compliant actuation design
  • Collaborative robot control
  • Exoskeletons control
  • Compliant actuation control
  • Human–robot collaboration
  • Human–robot sharing control
  • Industry 4.0
  • Assistive robotics
  • Empowering humans
  • Human-centered robotics

Published Papers (1 paper)

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Research

Open AccessArticle
Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton
Designs 2020, 4(4), 53; https://0-doi-org.brum.beds.ac.uk/10.3390/designs4040053 - 04 Dec 2020
Cited by 2 | Viewed by 934
Abstract
This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the [...] Read more.
This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the system dynamics. On the other hand, the design of the Kalman observer always should be based on a model providing an adequate description of the system dynamics; however, when back-support exoskeletons are considered, the synthesis of a state observer becomes very challenging, since only nonlinear models may be adopted to reproduce the system dynamic response with adequate accuracy. The dynamic modeling of the exoskeleton robotic platform, used in this work, comprises an electrical brushless DC motor, gearbox transmission, torque sensor and human trunk (biomechanical model). On this basis, a block diagram model of the dynamic system is presented and an experimental test has been carried out for identifying the system parameters accordingly. Both the block diagram and bond graph dynamic models are simulated via MATLAB and 20-sim software (bond graph simulation software) respectively. Furthermore, the possibility of employing the Kalman filter observer together with a suitable linear model is investigated. Subsequently, the performance of the proposed Kalman observer is evaluated in a lifting task scenario with the use of a linear quadratic regulator (LQR) controller with double integral action. Finally, the most important simulation results are presented and discussed. Full article
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