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 O(log2n) complexity for the highly articulated n degrees of freedom (DoF) running on p processing cores. The proposed parallel algorithm achieves an exponential speedup for n=p=64 DoF while achieving a 0.96 degree of parallelism for n=p=256, which demonstrates the required scalability for controlling highly articulated soft exoskeletons in real time. However, scalability will be bounded by the n=p fraction.

Julian D. Colorado

Diego Mendez

Andres Gomez-Bautista

John E. Bermeo

Catalina Alvarado-Rojas

Fredy Cuellar

Actuators

ACTUATORS (ISSN 2076-0825; CODEN: ACTUC3) 是关于执行器和控制系统科学和技术的国际开放获取期刊，由 MDPI 每季度在线出版。

Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open-access journal that focuses on the science and technology of actuators and control systems, published online quarterly by MDPI.

《Actuators》（ISSN 2076-0825；CODEN: ACTUC3）是一本国际开放获取期刊，专注于执行器和控制系统的科学与技术，由MDPI每季度在线出版。

Category	Quartile
工程技术	3
工程技术, 工程机械	3
工程技术, 仪器仪表	4

Scalable O(log2n) Dynamics Control for Soft Exoskeletons

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Journal Info

Category	Quartile
INSTRUMENTS & INSTRUMENTATION	2