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Opportunities in Robotic Exoskeletons
Hybrid Assistive Limb SUIT (MT5009)
1
Group Members:
Phyoe Kyaw Kyaw A0098528M
Khin Sandar A0049731A
Mohammad Khalid A0098544R
Wang Juan A0098515W
Yuanbo Li (Michael) A0119085A
Zhongze Chen (Frank) A0119239B
CONTENTS
2
Introduction
How it Works
Applications
Evolution of Hybrid Assistive Limb (HAL)
Developments of the HAL suits
Future improvements for the HAL suits
Robotics Market
Future Entrepreneurial Opportunities
Summary and Conclusion
INTRODUCTION
Prof. Yoshiyuki Sankai (山海 嘉之)
University of Tsukuba, Japan Founder of Cyberdyne
Systems Corporation
Founded in 24 June 2004 Headquarters in Tsukuba, Ibaraki, Japan R&D of equipment & systems in medical, rehabilitation,
elderly assistance, rescue support, heavy labor supports in factories and plants. Production, lease, sales and support of HAL.
Well known for Hybrid Assistive Limb (HAL-5) suit
Hybrid Assistive Limb (HAL) Suit
A cyborg-type robot that can supplement, expand or improve physical capability.
Source: Cyberdyne Corporation, www.cyberdyne.jp
HAL IN THE NEWS AND PUBLICATIONS
Hybrid Control System (Cybernic Autonomous Control + Bio-Cybernic Control)
Cybernic Autonomous Control System Two control algorithms to provide physical support to wearers in various conditions.
Bio-Cybernic Control System Control system that sense wearer’s motion and activities using bioelectrical signal including myoelectricity Wearer receives physical support directly from the bioelectrical signals driven motors
HOW IT WORKS: HYBRID CONTROL SYSTEM
HOW IT WORKS: BIO-CYBERNIC CONTROL
1. Brain sends ‘Myoelectrical’ signal to muscles.
3. Biocybernic Control reads
data and activates the suit’s motors
2. Bioelectrical sensor detects the
signal and activates Biocybernic Control
Next generation rehabilitation
o Enhance and support physical capabilities of the user.
o Accelerate wearer’s daily activities and improve recovery.
o Support self-physical training
7
APPLICATIONS
Disaster Relief activities
o Rescue support at disaster sites
o Accelerate disaster recovery activities
and save lives
o Lifting heavy obstacles, victims and
elderly
o Disaster cleanup
Heavy industries
o Support carrying heavy machines and parts
o Reduce injury due to improper handling of heavy items
o Help ease the workers and increase productivity
• Hospitals and nursing homes
o Improves the mobility of elderly and
disabled
o Carry patients effortlessly by nurses
and hospital staffs
o Nurse-free walking and other physical
activities
APPLICATIONS
9
APPLICATIONS: DEMO
APPLICATIONS
Reference: The New England Journal of Medicine, Downloaded from nejm.org on August 25, 2013.
Statistical Analysis on HAL vs. other care for the recovery of stroke patients
For robot-assisted therapy: Testing on stroke patients shows that robot-assisted therapy is as good as intensive comparison therapy.
CONTENTS
11
Introduction
How it Works
Applications
Evolution of Hybrid Assistive Limb (HAL)
Improvements of the HAL suits
Future improvements for the HAL suits
Robotics Market
Future Entrepreneurial Opportunities
Summary and Conclusion
EVOLUTION OF HAL SUITS
1996
Designs and Creation
- Prototype hardware
design, HAL-3
- Attached to computer
Scale and Weight
- Released HAL-3
Prototype for Trial
- Backpack battery
and weighted 22kg
1999 1993
Discovery
- Mapping out
neurons
governing leg
movement
1997
Design and Creation
- Prototype HAL-1
- Support only lower
half limb
Technology and Designs
- Prototype hardware
designs, HAL-5
- Attached computer
directly to the suit for
limb control system
2003
Scale and Weight
- Released HAL-5
Prototype for Trail
- Waist strapped
battery and
weighted 10kg
2005
Safety and Conformance
- certified for European
Conformity (EC
Certificate) in Medical
Device Directive (MDD)
Commercialization
- Commercialized
HAL-5 to hospitals
and rehab centers
- Operate in
Fukushima cleanup
2011 2012
50
23 20 15
60
160
240
300
0
30
60 70
1000
800
500
200
0
200
400
600
800
1000
1200
0
50
100
150
200
250
300
350
HAL-3
(1999)
HAL-5
(2005)
HAL-5
(2008)
HAL-5
(2011)
Suit Weight (Kg)
Operating Time (mins)
Weight Lifting (kg)
Response Time (ms)
HAL IMPROVEMENTS MADE
IMPROVEMENTS: HAL-3 TO HAL-5A
HAL 5-A (2005)
HAL 3 (1999-2005)
Suit Type HAL-3 (1999-2005) HAL-5 Type A (2005) Improvement (%)
Weight (Lower Body)
22kg 15kg 32% weight reduction
Power Storage Lead-Acid
Rechargeable Battery Li-Poly Battery
Rechargeable battery
Operating time
< 60 mins < 160 mins 266% more
operating time
Motions Daily Activities (sitting down and standing up from a chair, walking, climbing up and down stairs)
Operation Cybernic
Autonomous Control (CAC)
Hybrid Control System (CAC + Bio-Cybernic
Control) 53% faster
response time Processing Microcontroller Microprocessor
Construction (S/W)
Tungsten / Aluminum
Nickel molybdenum and aluminum alloy
10% more Strength/Weight
Price University Research Clinical Trial First Clinical
Trail with HAL
Comparison of HAL-3 VS HAL-5 Type A
IMPROVEMENTS – BIOELECTRICAL SENSING
Bio-Cybernic Control System
- HAL exoskeleton moves
according to the thoughts of its wearer.
- Muscle movements are based on nerve signals sent from the brain to the muscles – signals that are registered in very weak traces on the surface of the skin.
- HAL identifies these signals using a sensor, sends a signal to the suit’s power unit and computer control the movement of the robotic limbs along with the human limbs
HAL 5-B (2008)
Suit Type HAL-5 Type A (2005 – Ref)
HAL-5 Type B (2008)
HAL-5 Type C (2011)
Improvement (%)
Weight Lower body - 15kg
Full Body Weight (< 23kg)
Full Body Weight (<20 kg)
13% weight reduction
Power Storage
Li-Poly Rechargeable
battery
Li-Ion Battery Rechargeable battery
Operating time
Approx. 2 hrs 40 mins
Approx. 3 hrs Approx. 5 hrs 166% more operating time
Motions Daily Activities (sitting down and standing up from a chair, walking, climbing up and down stairs)
Operation Hybrid Control System (CAC +Bio-Cybernic Control)
Agility N/A Hold and lift heavy objects up to 60 kg
Hold and lift heavy objects up to 70 kg
16% more agility to lift
Processing Microprocessor Intel Atom 6% more response time
Construction (S/W)
Nickel molybdenum, aluminum alloy Carbon Magnesium Alloy
Nil
Price (Lease) Clinical Trial USD 2,500/mth USD 2,300/mth 5% lower lease price
IMPROVEMENTS: HAL-5A TO HAL-5C HAL 5-A
(2005)
HAL 5-C (2011)
Comparison of HAL-5 Type A VS HAL-5 Type B VS HAL-5 Type C
1.5
0.8
0.5
0.2 0.1 0.15
1.6
1.8 1.8 1.8
1
2.5 2.4
1.7
1.5
0
0.5
1
1.5
2
2.5
3
Microcontroller
(1999-2005)
Microprocessor
(2005-2008)
Intel Atom (2008-
2011)
Intel Atom (2011-
Present)
Intel Atom (Future)
HAL 3 HAL 5 (2005) HAL 5 (2008) HAL 5 (2011) HAL 5 (FG)
Response Time (s) Frequency (GHz) TDP (Watt)
http://www.cpu-world.com/info/Intel/Intel_Atom.html
DEVELOPMENT – RESPONSE TIME
Up to
7.5X Reduce
Response Time
1. Natural movement 2. Avoid accident 3. Move faster
Factor affecting in Response time are classified as 1. Software algorithm, 2. Processor speed, 3. Sensor’s sensitivity and its feedback.
0
10
20
30
40
50
60
70
80
Lower Limb Lower and Upper
Limb
Full Body Suit Full Body Suit
HAL 3 HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)
Agility (kg)
DEVELOPMENT – WEIGHT LIFTING
Source: Cyberdyne, Japan, www.cyberdyne.jp
Up to
2.6X More weight can be lifted
Kg
1. Possible more applications that require heavy lifting such as heavy labour industry, warehouse, rescue, nursing, etc.
DEVELOPMENT – MATERIAL
* Maintain Strength to Weight Ratio
Hal 3 (50kg)
Hal 5 (2005 – 2008) (23kg)
950
450 300
Hal 5 (2011) (15kg)
10% Up S/W
1.5 X Reduce Weight*
http://helix.gatech.edu/Classes/ME4182/2000S1/Webs/reg_mech/prod/materials/strengthvsdensity.html
1. Quicker Mobility 2. Needs less motor torque
to drive the body 3. Easy to wear
18.4
18.6
18.8
19
19.2
19.4
19.6
19.8
20
20.2
0
10
20
30
40
50
60
1 2 3 4
IMPROVEMENT IN WEIGHT OF
HAL SUIT AND STRENGTH/WEIGHT RATIO
Weight (Kg) Strength/Weight (Mpa/Kg)
DEVELOPMENT – MATERIAL
Source: Cyberdyne, Japan, www.cyberdyne.jp
1. Quicker Mobility 2. Needs less motor torque
to drive the body 3. Lighter to make a suit
and easy to wear
HAL-3 (Tg-Al Alloy)
HAL-5 (2005) Ni-Mo-Al Alloy
HAL-5 (2008) Ni-Mo-Al Alloy
HAL-5 (2011) C-Mg Alloy
DEVELOPMENT – ENERGY STORAGE
0
50
100
150
200
250
300
350
HAL-3 HAL-5 B HAL-5 C
Op
erat
ing
tim
e (m
in)
0
20
40
60
80
100
120
140
160
lead acid Ni-Iron NiCa NiMH li-ion li-polymer
Ener
gy d
ensi
ty (
Wh /
kg)
Hal-5 B (2005-2008)
Hal-5 C (2011)
Hal-3 (1999-2005)
Up to
5X Energy Density
Up to
5X Operating
Time
Source: http://blog.genport.it/?p=133
Comparison of Energy Density for battery materials Battery storage used for HAL
1. More usage time and less charging 2. Compact and portable battery pack is possible 3. Improve suit’s form factors
CONTENTS
22
Introduction
How it Works
Applications
Evolution of Hybrid Assistive Limb (HAL)
Improvements of the HAL suits
Future improvements for the HAL suits
Robotics Market
Future Entrepreneurial Opportunities
Summary and Conclusion
FUTURE IMPROVEMENT OF HAL SUITS S
tren
gth
/Wei
gh
t
Rewalk
HAL 5 (2005)
Future HAL
Current Standing of HAL suit and expectation for future HAL
Berkeley Lower Extremity Exoskeleton (BLEEX)
HAL 5 (2011)
Consideration for Our Next Generation Hal Suit for future opportunities of HAL
Market Opportunities, Market Shares and Types of Applications
Low Cost Material
Improve Operating
Time (Power Storage)
Enhanced Sensor
Performance
Low Cost Production
Per
form
ance
C
ost
FUTURE IMPROVEMENT OF HAL SUITS
PERFORMANCE IMPROVEMENT – POWER STORAGE
IMPROVE OPERATING
TIME
Current situation: • Battery pack weighs 3kg. • Continuous usage lasts less than 3
hours. • Battery type: Lithium-Ion
Alternatives in the future (7-10 years later) • Lithium-Sulphur (Li-S) Batteries
http://www.barnardmicrosystems.com/L4E_batteries.htm
Li-S Prototype
http://www.wfs.org/blogs/len-rosen/energy-update-lithium-sulfur-batteries-waste
PERFORMANCE IMPROVEMENT – POWER STORAGE
Source: Tarascon, J , 2010. Key Challenges in future Li-battery research. Philosophical Transactions of the Royal Society 368: 3227-3241
Current HAL (Li-Ion)
Future HAL (Li-S)
High Energy Density in Li-S enables HAL more operating time for less weight (Wh/Kg)
PERFORMANCE IMPROVEMENT – POWER STORAGE
Current HAL
Future HAL
Up to
x2 Energy Density
http://www.barnardmicrosystems.com/L4E_batteries.htm
Future Opportunities for Future Applications for HAL with • Higher power and energy density • Lighter and longer cycle times • Cost effective and competitive • Easy to Manufacture for
productivity
PERFORMANCE IMPROVEMENT – RESPONSE TIME
Enhanced Sensor
Performance
Current situation:
• Slow synchronization between limb nerve, motion sensor and driver.
• Room for improvement in speed of signal processing and energy consumption from the processor
Alternatives in the future • Shrink, SoC Atom Processor for low
cost, power consumption with multi-core processing capability.
• Scaling in Bioelectronic IC fabrication enables packing of transistors required in a single IC and creates additional room for other components.
Sensors
2010 2011 2013 2014 and beyond
FUTURE PERFORMANCE IMPROVEMENT – RESPONSE TIME
Source: http://www.extremetech.com/computing/116561-the-death-of-cpu-scaling-from-one-core-to-many-and-why-were-still-stuck
Intel’s Future Atom Architecture
Future Opportunities for Future Applications for HAL with • Low power multicore processor
enables quicker response time for lag free movement
• Help synchronization quicker • Reduce in Chip size enable low
energy consumption and space required
2008
Pack more cores into a single SoC (low power and heat, high speed processing)
PERFORMANCE IMPROVEMENT – RESPONSE TIME WITH SCALING BIOELECTRICAL (MUSCLE) SENSOR ICS
http://www.scribd.com/doc/123001077/Advancer-Technologies-Muscle-Sensor-v2-Manual
Muscle Sensor v1 (HAL-5A)
Muscle Sensor v2 (HAL-5B)
Muscle Sensor v3 (HAL-5C)
0
1
2
3
4
5
6
7
8
9
Muscle sensor v1 Muscle sensor v2 Muscle sensor v3
HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)
Dimension (inxin)
Voltage Used (V)
0
10
20
30
40
50
60
Muscle sensor v1 Muscle sensor v2 Muscle sensor v3
HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)
Gain Setting (kW)
Price (USD)
Up to
2X Size and Power
Up to
4X Gain
Setting
Future Opportunities for Future Applications for HAL with • Lower power
consumption • Reduce no. of ICs
and size of sensor create extra room for other components
• Improve gain setting for better sensor accuracy and response time
Scaling Pack more transistors into a single IC and thus increase freq.
(speed), allow low power and heat
Function of Bio- Electronic sensor IC
http://www.siliconsemiconductor.net/article/72615-MEMS-Chip-business-to-double-by-2013.php
Source: MEMS market grows as prices decline, http://www.digikey.com/supply-chain-hq/us/en/articles/ semiconductors/ mems-market-grows-as-prices-decline/1058
FUTURE TRENDS FOR MEMS SENSOR
ENTREPRENEUR OPPORTUNITIES WITH LOW COST MATERIAL
LOW COST MATERIAL
Current situation: • Base material used:
• Carbon Magnesium alloy - Weighted 15kg - US $40-65/kg
• Base material cost:
• Approx. US $600-975/suit
Alternatives in the future • Magnesium Reinforced Polycarbonate
• US$20-50/kg, Est. US$300-750/suit • Pro: Low Cost Material
Future Opportunities for Future Applications for HAL with - Reduction in cost creates greater
market share - Polycarbonate enable easy molding
for quick production and increase productivity
http://www.thenakedscientists.com/HTML/articles/article/steeling-the-show/
Other material consideration for suit and casing given the cost vs. strength chart below:
Polycarbonate, aluminum or magnesium alloys
seems more viable material to strike a balance between
cost and strength.
COST REDUCTION IMPROVEMENTS – MATERIAL
Now Future
Prices of HAL 5 Half Suit VS Full Suit
34
HAL 5 – Half Suit HAL 5 – Full Suit
http://news.cnet.com/8301-27083_3-20043544-247.html http://www.theaustralian.com.au/news/world/robots-to-the-rescue-as-an-aging-japan-looks-for-help/story-e6frg6so-1226494698495
- Indicative prices for Hospitals and Rehab centers. Leasing option is available from US$2,300 per month. - At this moment, can’t be bought-off the shelf.
CONTENTS
35
Introduction
How it Works
Applications
Evolution of Hybrid Assistive Limb (HAL)
Improvements of the HAL suits
Future improvements for the HAL suits
Robotics Market
Future Entrepreneurial Opportunities
Summary and Conclusion
ROBOTICS MARKET
- For domestic tasks - Entertainment - Handicap assistance - Personal transportation - Home security - Medical robots - Defense, rescue & security applications - Humanoids
- Manufacturing - Line assembly - Bio-industrial
In 2012, about 3 million service robots for personal and domestic use were sold, 20% more than in 2011. The value of sales increased to US$1.2 billion.
1. Service Robots 2. Industrial Robots
http://www.ifr.org/service-robots/statistics/
Current applications of HAL: - Eldercare and rehabilitation - Disaster relief - Heavy industries
Future - Consumer robotics, entertainment, leisure, military
Forecast US$51.7b market size for service & personal robotics
ROBOTICS MARKET
Worldwide Robotics Market Growth 1. Product Strategy
• Upper, Lower, Full Body, Rescue & Recovery
2. Pricing Strategy
• Lease < US$2000/mth
3. Target Market
• US, EU and Japan
4. Sales Strategy
• Rental to Hospitals, clinics, Rescue agencies, heavy labour industries and Rehab Centres
FUTURE ENTREPRENEUR OPPORTUNITY
HAL-assisted Rehab Centers / Hospitals • Patients with physical, developmental conditions.
• Eldercare
Training for Hal-Therapists • New training programs & centers for therapists to
use HAL-equipment.
• Also available to HAL suit customers
Manufactures and Suppliers • Increase demand to produce more
materials, components and integration parts.
Mobile HAL suit charging stations • Consumers can charge suit or exchange/purchase
battery packs.
Robot variations for games, sports • Create new market segments for sports
and games.
FUTURE ENTREPRENEUR OPPORTUNITY
Software Development Firms and Developers • Creates apps ecosystem for better Hal suit software like
brain-wave control, healthcare feedback, etc.
Heavy-lifting services • Existing movers, product assembly lines & warehousing
using the HAL suit.
Time 2005 2011 Present 2016
Driv
ers M
arke
t
(Ext
.)
Bus
ines
s
(Int
.)
Pro
duct
Te
chno
logy
R
&D
Full-body
Support Suit
Single
Joint Suit
Regional
Joint Suit
HAL-5 (2005)
R&D by Tsukuba University Collaborate with Intel Inc, Medical Industries in Europe,
Heavy industries in Japan Domestic and Global Market
Trends: Growth of global ageing population and disabilities
Market: Japan Domestic Hosipitals and Rehabitilitation Centre
Trends: Need for Heavy Labour and Rescue Works
Market: Heavy industries and Tough labour works
Founded Cyberdyne in 2008,
Produced 500 units per annum
HAL-5 (2011)
Battery
Used
Sensors/
Processor
Material
Li-Ion Op: Up to 3hrs
Hardware
Software
Global
Market
Li-Poly Op: 2 hr 40mins
Acceleration/COG/Angular Sensors/
Muscle Sensor v1, Microprocessor
Nickel molybdenum and aluminum alloy Carbon Magnesium Alloy
Acceleration/COG/Angular /Bioelectrical
(Muscle Sensor v3)/COP Sensors/Intel Atom (Z540)
Hi Capacity Li-Ion Op: Up to 4hrs
HAL-5 (2011-2013) HAL-7 (2016)
Magnesium Reinforced
Polycarbonate
Lithium-Sluphur
Li-Ion Op: > 5hrs
MEMS sensors /
Bay Trail Processors
Cybernic Autonomous Control (CAC) + Hybrid Control System (CAC +Bio-Cybernic Control)
Uppler/Lower Limb Suit Full-body Support Suit Tungsten Made Suit Heavy Industry Suit Polycarbonate Suit
SUMMARY - ROADMAP OF HAL
• HAL suit – The leader in robotics exoskeleton
• Showed improvements and commitment to the success of the product.
• Developments in key areas that will impact the performance and cost of the HAL suit.
• Growing trend in robotics market.
• Entrepreneurship opportunities
CONCLUSION
Lets have Q & A…
[1] F. Ichihashi, Y. Sankai, S. Kuno, Development of Secure Data Management Server for e-
Health Promotion System, International Journal of Sport and Health Science,Vol.4, pp. 617-
627, 2006
[2] H. Toda, T. Kobayakawa, Y. Sankai, A multi-link system control strategy based biologilcal
movement, Advanced Robotics, vol.20 no.6, pp. 661-679, 2006
[3] H. Toda, Y. Sankai: Three-dimensional link dynamics simulator base on N-single-particle
movement, Advanced Robotics, vol. 19, no. 9, pp. 977-993, 2006
[4] H. Kawamoto, Y. Sankai: Power assist method based on phase sequence and muscle force
condition for HAL, Advanced Robotics, vol.19, no.7, pp. 717-734, 2005
[5] S. Lee, Y. Sankai: Virtual Impedance Adjustment in Unconstrained Motion for Exoskeletal
Robot Assisting Lower Limb, Advanced Robotics, vol.19, no.7, pp. 773-795, 2005
[6] K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa and Y. Sankai: Intention-based walking
support for paraplegia patients with Robot Suit HAL, Advanced Robotics, vol. 21, no. 12, pp.
1441 – 1469, 2007
REFERENCES