Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons
Robotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives to conventional rigid body structures. In this arena, biomimetic soft systems play...
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2024-11-01
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| author | Julian D. Colorado Diego Mendez Andres Gomez-Bautista John E. Bermeo Catalina Alvarado-Rojas Fredy Cuellar |
| author_facet | Julian D. Colorado Diego Mendez Andres Gomez-Bautista John E. Bermeo Catalina Alvarado-Rojas Fredy Cuellar |
| author_sort | Julian D. Colorado |
| collection | DOAJ |
| description | Robotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives to conventional rigid body structures. In this arena, biomimetic soft systems play an important role in modeling and controlling human hand kinematics without the restrictions of rigid mechanical joints while having an entirely deformable body with limitless points of actuation. In this paper, we address the computational limitations of modeling large-scale articulated systems for soft robotic exoskeletons by integrating a parallel algorithm to compute the exoskeleton’s dynamics equations of motion (EoM), achieving a computation with <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>O</mi><mo>(</mo><mi>l</mi><mi>o</mi><msub><mi>g</mi><mn>2</mn></msub><mi>n</mi><mo>)</mo></mrow></semantics></math></inline-formula> complexity for the highly articulated <i>n</i> degrees of freedom (DoF) running on <i>p</i> processing cores. The proposed parallel algorithm achieves an exponential speedup for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi><mo>=</mo><mn>64</mn></mrow></semantics></math></inline-formula> DoF while achieving a <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.96</mn></mrow></semantics></math></inline-formula> degree of parallelism for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi><mo>=</mo><mn>256</mn></mrow></semantics></math></inline-formula>, which demonstrates the required scalability for controlling highly articulated soft exoskeletons in real time. However, scalability will be bounded by the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi></mrow></semantics></math></inline-formula> fraction. |
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| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2024-11-01 |
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| spelling | doaj-art-52d2fea7e7fc4cb1b8c1fc7bf5b62b3d2024-11-26T17:42:29ZengMDPI AGActuators2076-08252024-11-01131145010.3390/act13110450Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft ExoskeletonsJulian D. Colorado0Diego Mendez1Andres Gomez-Bautista2John E. Bermeo3Catalina Alvarado-Rojas4Fredy Cuellar5School of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaSchool of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaSchool of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaSchool of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaSchool of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaSchool of Engineering, Pontificia Universidad Javeriana, Bogota 110231, ColombiaRobotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives to conventional rigid body structures. In this arena, biomimetic soft systems play an important role in modeling and controlling human hand kinematics without the restrictions of rigid mechanical joints while having an entirely deformable body with limitless points of actuation. In this paper, we address the computational limitations of modeling large-scale articulated systems for soft robotic exoskeletons by integrating a parallel algorithm to compute the exoskeleton’s dynamics equations of motion (EoM), achieving a computation with <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>O</mi><mo>(</mo><mi>l</mi><mi>o</mi><msub><mi>g</mi><mn>2</mn></msub><mi>n</mi><mo>)</mo></mrow></semantics></math></inline-formula> complexity for the highly articulated <i>n</i> degrees of freedom (DoF) running on <i>p</i> processing cores. The proposed parallel algorithm achieves an exponential speedup for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi><mo>=</mo><mn>64</mn></mrow></semantics></math></inline-formula> DoF while achieving a <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.96</mn></mrow></semantics></math></inline-formula> degree of parallelism for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi><mo>=</mo><mn>256</mn></mrow></semantics></math></inline-formula>, which demonstrates the required scalability for controlling highly articulated soft exoskeletons in real time. However, scalability will be bounded by the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mi>p</mi></mrow></semantics></math></inline-formula> fraction.https://www.mdpi.com/2076-0825/13/11/450soft exoskeletonsparallel computingembedded systemsHILdynamics control |
| spellingShingle | Julian D. Colorado Diego Mendez Andres Gomez-Bautista John E. Bermeo Catalina Alvarado-Rojas Fredy Cuellar Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons Actuators soft exoskeletons parallel computing embedded systems HIL dynamics control |
| title | Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons |
| title_full | Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons |
| title_fullStr | Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons |
| title_full_unstemmed | Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons |
| title_short | Scalable <i>O</i>(<i>log</i><sub>2</sub><i>n</i>) Dynamics Control for Soft Exoskeletons |
| title_sort | scalable i o i i log i sub 2 sub i n i dynamics control for soft exoskeletons |
| topic | soft exoskeletons parallel computing embedded systems HIL dynamics control |
| url | https://www.mdpi.com/2076-0825/13/11/450 |
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