Relevant bibliographies by topics / Exoskeleton design

Academic literature on the topic 'Exoskeleton design'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Exoskeleton design"

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Low, K. H., X. Liu, and H. Yu. "Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device." Applied Bionics and Biomechanics 3, no. 3 (2006): 209–25. http://dx.doi.org/10.1155/2006/701729.

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This article presents a wearable lower extremity exoskeleton (LEE) developed to enhance the ability of a human’s walking while carrying heavy loads. The ultimate goal of the current research work is to design and control a power assist system that integrates a human’s intellect for feedback and sensory purposes. The exoskeleton system in this work consists of an inner exoskeleton and an outer exoskeleton. The inner exoskeleton measures the movements of the wearer and provides these measurements to the outer exoskeleton, which supports the whole exoskeleton system to walk following the wearer. A special footpad, which is designed and attached to the outer exoskeleton, can measure the zero moment point (ZMP) of the human as well as that of the exoskeleton in time. Using the measured human ZMP as the reference, the exoskeleton’s ZMP is controlled by trunk compensation so that the exoskeleton can walk stably. A simulation platform has first been developed to examine the gait coordination through inner and outer exoskeletons. A commercially available software, xPC Target, together with other toolboxes from MATLAB, has then been used to provide a real-time operating system for controlling the exoskeleton. Real-time locomotion control of the exoskeleton is implemented in the developed environment. Finally, some experiments on different objects showed that the stable walking can be achieved in the real environment.
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Liu, Yang, Xiaoling Li, Aibin Zhu, Ziming Zheng, and Huijin Zhu. "Design and evaluation of a surface electromyography-controlled lightweight upper arm exoskeleton rehabilitation robot." International Journal of Advanced Robotic Systems 18, no. 3 (May 1, 2021): 172988142110034. http://dx.doi.org/10.1177/17298814211003461.

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Nowadays, the rehabilitation robot has been developed for rehabilitation therapy. However, there are few studies on upper arm exoskeletons for rehabilitation training of muscle strength. This article aims to design a surface electromyography-controlled lightweight exoskeleton rehabilitation robot for home-based progressive resistance training. The exoskeleton’s lightweight structure is designed based on the kinematic model of the elbow joint and ergonomics sizes of the arm. At the same time, the overall weight of the exoskeleton is controlled at only 3.03 kg. According to the rehabilitation training task, we use torque limit mode to ensure stable torque output at variable velocity. We also propose a surface electromyography-based control method, which uses k- Nearest Neighbor algorithm to classify surface electromyographic signals under progressive training loads, and utilizes principal component analysis to improve the recognition accuracy to control the exoskeleton to provide muscle strength compensation. The assessment experiment of the exoskeleton rehabilitation robot shows that the dynamic recognition accuracy of this control method is 80.21%. Muscle activity of biceps brachii and triceps brachii under each training load decreases significantly when subjects with the exoskeleton robot. The results indicate that the exoskeleton rehabilitation robot can output the corresponding torque to assist in progressive resistance training. This study provides a solution to potential problems in the family-oriented application of exoskeleton rehabilitation robots.
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Pamungkas, Daniel S., Wahyu Caesarendra, Hendawan Soebakti, Riska Analia, and Susanto Susanto. "Overview: Types of Lower Limb Exoskeletons." Electronics 8, no. 11 (November 4, 2019): 1283. http://dx.doi.org/10.3390/electronics8111283.

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Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.
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Schnieders, Thomas Michael, and Richard T. Stone. "Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons." International Journal of Robotics Applications and Technologies 5, no. 1 (January 2017): 1–19. http://dx.doi.org/10.4018/ijrat.2017010101.

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This literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users.
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Barynkin, Ivan, and Aleksandr Ivanov. "Design features of industrial exoskeletons." Robotics and Technical Cybernetics 10, no. 4 (December 2022): 304–8. http://dx.doi.org/10.31776/rtcj.10409.

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Classifications of exoskeletons by design, main areas of application and degree of automation are given. Based on the analysis of the exoskeletons presented on the market, the requirements for an industrial exoskeleton designed for when carrying loads and working with heavy tools are formulated. Solutions are proposed to improve the design of the load-bearing elements of the frame and active elements. Approaches to evaluating the effectiveness of the exoskeleton based on electromyography and indirect methods for measuring the level of metabolism are considered.
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Chen, Weihai, Zhongyi Li, Xiang Cui, Jianbin Zhang, and Shaoping Bai. "Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters." Sensors 19, no. 20 (October 15, 2019): 4461. http://dx.doi.org/10.3390/s19204461.

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Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.
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Wang, Tao, Bin Zhang, Chenhao Liu, Tao Liu, Yi Han, Shuoyu Wang, João P. Ferreira, Wei Dong, and Xiufeng Zhang. "A Review on the Rehabilitation Exoskeletons for the Lower Limbs of the Elderly and the Disabled." Electronics 11, no. 3 (January 27, 2022): 388. http://dx.doi.org/10.3390/electronics11030388.

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Research on the lower limb exoskeleton for rehabilitation have developed rapidly to meet the need of the aging population. The rehabilitation exoskeleton system is a wearable man–machine integrated mechanical device. In recent years, the vigorous development of exoskeletal technology has brought new ideas to the rehabilitation and medical treatment of patients with motion dysfunction, which is expected to help such people complete their daily physiological activities or even reshape their motion function. The rehabilitation exoskeletons conduct assistance based on detecting intention, control algorithm, and high-performance actuators. In this paper, we review rehabilitation exoskeletons from the aspects of the overall design, driving unit, intention perception, compliant control, and efficiency validation. We discussed the complexity and coupling of the man–machine integration system, and we hope to provide a guideline when designing a rehabilitation exoskeleton system for the lower limbs of elderly and disabled patients.
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Schwartz, Mathilde, Jean Theurel, and Kévin Desbrosses. "Effectiveness of Soft versus Rigid Back-Support Exoskeletons during a Lifting Task." International Journal of Environmental Research and Public Health 18, no. 15 (July 29, 2021): 8062. http://dx.doi.org/10.3390/ijerph18158062.

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This study investigated the influence of passive back-support exoskeletons (EXOBK) design, trunk sagittal inclination (TSI), and gender on the effectiveness of an exoskeleton to limit erector spinae muscle (ES) activation during a sagittal lifting/lowering task. Twenty-nine volunteers performed an experimental dynamic task with two exoskeletons (two different designs: soft (SUIT) and rigid (SKEL)), and without equipment (FREE). The ES activity was analyzed for eight parts of TSI, each corresponding to 25% of the range of motion (lifting: P1 to P4; lowering: P5 to P8). The impact of EXOBK on ES activity depended on the interaction between exoskeleton design and TSI. With SKEL, ES muscle activity significantly increased for P8 (+36.8%) and tended to decrease for P3 (−7.2%, p = 0.06), compared to FREE. SUIT resulted in lower ES muscle activity for P2 (−9.6%), P3 (−8.7%, p = 0.06), and P7 (−11.1%), in comparison with FREE. Gender did not influence the effect of either back-support exoskeletons on ES muscle activity. These results point to the need for particular attention with regard to (1) exoskeleton design (rigid versus soft) and to (2) the range of trunk motion, when selecting an EXOBK. In practice, the choice of a passive back-support exoskeleton, between rigid and soft design, requires an evaluation of human-exoskeleton interaction in real task conditions. The characterization of trunk kinematics and ranges of motion appears essential to identify the benefits and the negative effects to take into account with each exoskeleton design.
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Tijjani, Ibrahim, Shivesh Kumar, and Melya Boukheddimi. "A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking." Applied Sciences 12, no. 5 (February 25, 2022): 2395. http://dx.doi.org/10.3390/app12052395.

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Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that externally support the bones and cartilage of the human body while trying to mimic the human movement capabilities and augment muscle power. The lower extremity exoskeleton device may support specific human joints such as hip, knee, and ankle, or provide support to carry and balance the weight of the full upper body. Their assistive functionality for physically-abled and disabled humans is demanded in medical, industrial, military, safety applications, and other related fields. The vision of humans walking with an exoskeleton without external support is the prospect of the robotics and artificial intelligence working groups. This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking. First, a historical view on the development of walking exoskeletons is presented and various lower body exoskeleton designs are categorized in different application areas. Then, these designs are studied from design, modeling, and control viewpoints. Finally, a discussion on future research directions is provided.
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Kütük, Mehmet Erkan, Lale Canan Dülger, and Memik Taylan Daş. "Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation." Mechanical Sciences 10, no. 1 (March 13, 2019): 107–18. http://dx.doi.org/10.5194/ms-10-107-2019.

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Abstract. This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion–extension (FE) and adduction–abduction (AA) motions for the wrist and pronation–supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.
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Dissertations / Theses on the topic "Exoskeleton design"

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Gün, Volkan Keçeci Emin Faruk. "Wearable Exoskeleton Robot Design/." [s.l.]: [s.n.], 2007. http://library.iyte.edu.tr/tezlerengelli/master/makinamuh/T000616.pdf.

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Tims, Jacob (Jacob F. ). "Dynamic exoskeleton : mechanical design of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105664.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 12).
An exoskeleton was designed with the primary goal of enhancing the maximum dynamic capability of a human, thus allowing the user to run faster, jump higher, or traverse challenging terrain. This paper presents the mechanical design of an alpha prototype with a focus on increasing the maximum vertical jump height of a human. High torque motors were constrained to the body with two degrees of freedom using carbon fiber, aluminum, and other lightweight materials. The exoskeleton actuates the hip joint by comfortably providing force to three points on the body. Human testing showed a maximum increase in jump height of 13%.
by Jacob Tims.
S.B.
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Farid, Michael S. "Dynamic exoskeleton : design and analysis of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103463.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 40-41).
Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis describes the first attempt to develop a powered exoskeleton suit that improves the maximum dynamic capability of a human. This Dynamic Exoskeleton is intended to enable to the user to run faster, jump higher, or traverse challenging terrain. This thesis presents a study on improving human vertical jump height using a powered exoskeleton. A simple human jump model is created, and dynamic simulation is utilized to determine the effectiveness of actuating the human hip joint for improving vertical jump height. A control system is developed and a series of human experiments with three test subjects are conducted. The test subjects improved their vertical jump heights by 13%, 6% and 5% respectively. The general challenges of actuating human joints and interfacing with the human body are presented.
by Michael S. Farid.
S.M.
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Martínez, Conde Sergio, and Luque Estela Pérez. "Exoskeleton for hand rehabilitation." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15820.

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This document presents the development of a first proposal prototype of a rehabilitation exoskeleton hand. The idea was to create a lighter, less complex and cheaper exoskeleton than the existing models in the market but efficient enough to carry out rehabilitation therapies.The methodology implemented consists of an initial literature review followed by data collection resulting in a pre-design in two dimensions using two different software packages, MUMSA and WinmecC. First, MUMSA provides the parameters data of the movement of the hand to be done accurately. With these parameters, the mechanisms of each finger are designed using WinmecC. Once the errors were solved and the mechanism was achieved, the 3D model was designed.The final result is presented in two printed 3D models with different materials. The models perform a great accurate level on the motion replica of the fingers by using rotary servos. The properties of the model can change depending on the used material. ABS material gives a flexible prototype, and PLA material does not achieve it. The use of distinct methods to print has a high importance on the difficulties of development throughout the entire process of production. Despite found difficulties in the production, the model was printed successfully, obtaining a compact, strong, lightweight and eco-friendly with the environment prototype.
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LaFay, Eric Bryan. "Mechanical System Design of a Haptic Cobot Exoskeleton." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920.

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Hoyos, Rodriguez David. "Realistic Computer aided design : model of an exoskeleton." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17558.

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The musculoskeletal disorders have significant health care, social and economic consequences in the factories nowadays. One of the most promising possible solutions is the use of exoskeletons in the workstations. Exoskeletons are assistive wearable robotics connected to the body of a person, which aims to give mechanical power or mobility to the user (Wang, Ikuma, Hondzinski, & de Queiroz, 2017). The objective of this project is to create a realistic CAD model of a passive exoskeleton which will be used in future research to analyse the behaviour of the workers in a virtual environment with and without the exoskeleton. This model will be a virtual representation of the exoskeleton EKSOVest which has been designed to support these workers who have to realize overhead tasks. This virtual representation will be carried out in PTC CREO and exported to IPS IMMA in order to check the viability of this model. To achieve a realistic model, the exoskeleton should have the same characteristics than the real exoskeleton. The objectives of this project will be defined for these characteristics, which are part creation, mechanisms, forces simulation, and parametrization. The parts and the mechanisms will be created and defined in PTC CREO with the same dimensions and behaviour as the real exoskeleton. Furthermore, this report will be focussed mainly in force simulation and the parametrization. The forces of the EKSOVest are generated by two different spring and by a high-pressure spring. To simulate these forces, the equation of these springs will be obtained and introduced in PTC CREO. These equations will be obtained through the regression of a set of points, which will be obtained from the real exoskeleton using a dynamometer. The parametrization will be carried out with the objective to make the virtual model adaptable for every type of mannequins. This parametrization will modify the length of the exoskeleton’s spine bar and the distance between the mechanical arms. These distances will be adapted according to the mannequin’s measures which will be introduced by the user. The measures that have to be introduced by the user are shoulder height, liac spine height, and chest width. In conclusion, it can be said that the regression of the springs obtained are an accurate result which can imitate quite well the forces of this exoskeleton. Furthermore, the results of the parametrization allow the exoskeleton adaptable to any type of dimensions that the mannequin could have. The final model obtained has been exported to IPS IMMA and implemented in a mannequin.
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Refour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.

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This thesis explores the field of robotic hand exoskeletons and their applications. These systems have emerged in popularity over the years, due to their potentials to advance the medical field as assistive and rehabilitation devices, and the field of virtual reality as haptic gloves. Although much progress has been made, hand exoskeletons are faced with several design challenges that are hard to overcome without having some tradeoffs. These challenges include: (1) the size and weight of the system, which can affect both the comfort of wearing it and its portability, (2) the ability to impose natural joint angle relationships among the user's fingers and thumb during grasping motions, (3) safety in terms of limiting the range of motions produce by the system to that of the natural human hand and ensuring the mechanical design does not cause harm or injury to the user during usage, (4) designing a device that is user friendly to use, and (5) the ability to effectively perform grasping motions and provide sensory feedback for the system to be applicable in various application fields. In order to address these common issues of today's state-of-the-art hand exoskeleton systems, this thesis proposes a mechanism design for a novel hand exoskeleton and presents the integration of several prototypes. The proposed hand exoskeleton is designed to assist the user with grasping motions while maintaining a natural coupling relationship among the finger and thumb joints to resemble that of a normal human hand. The mechanism offers the advantage of being small-size and lightweight, making it ideal for prolong usage. Several applications are discussed to highlight the proposed hand exoskeleton functionalities in processing sensory information, such as position and interactive forces.
MS
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Beauchamp, Sarah Emily. "Design and Evaluation of a Flexible Exoskeleton for Lifting." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/95965.

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A flexible and passive exoskeleton is presented in this paper. The exoskeleton uses carbon fiber beams to provide an energetic return to its wearer and relieve their lower back muscles. The design of the exoskeleton and potential elastic mechanisms are described, and the results of biomechanical testing are given. The exoskeleton decreased the erector spinae muscle activity by 21-39.7%.
MS
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Sharma, Manoj Kumar. "Design and Fabrication of Intention Based Upper-Limb Exoskeleton." University of Dayton / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841.

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Weaver, Valerie A. "DESIGN AND FABRICATION OF A HYBRIDNEUROPROSTHETIC EXOSKELETON FOR GAITRESTORATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1495230976762559.

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Books on the topic "Exoskeleton design"

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Freni, Pierluigi, Eleonora Marina Botta, Luca Randazzo, and Paolo Ariano. Innovative Hand Exoskeleton Design for Extravehicular Activities in Space. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-03958-9.

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Wilmot, Nadine Vivienne. Design and function of trilobite exoskeletons. Birmingham: Aston University. Department of GeologicalSciences, 1988.

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Virk, Gurvinder Singh, Shaoping Bai, and Thomas Sugar. Wearable Exoskeleton Systems: Design, Control and Applications. Institution of Engineering & Technology, 2018.

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Shaoping Bai, Gurvinder S. Virk, and Thomas G. Sugar, eds. Wearable Exoskeleton Systems: Design, control and applications. Institution of Engineering and Technology, 2018. http://dx.doi.org/10.1049/pbce108e.

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Wearable Exoskeleton Systems: Design, Control and Applications. Institution of Engineering & Technology, 2018.

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Innovative Hand Exoskeleton Design for Extravehicular Activities in Space. Springer International Publishing AG, 2014.

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Freni, Pierluigi, Eleonora Marina Botta, Luca Randazzo, and Paolo Ariano. Innovative Hand Exoskeleton Design for Extravehicular Activities in Space. Springer London, Limited, 2014.

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Pellis, Giancarlo. Centers of the Knee : Studies on Rototranslatory Kinematics of the Knee: From the Protected Load to the Design of the Customised Exoskeleton; Advantages, for the Elderly and for the Sportsman. Independently Published, 2019.

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Radivojević, Ana, and Linda Hildebrand. SUSTAINABLE AND RESILIENT BUILDING DESIGN: approaches, methods and tools. Edited by Saja Kosanović, Tillmann Klein, and Thaleia Konstantinou. TU Delft Bouwkunde, 2018. http://dx.doi.org/10.47982/bookrxiv.26.

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The challenges to which contemporary building design needs to respond grow steadily. They originate from the influence of changing environmental conditions on buildings, as well as from the need to reduce the impact of buildings on the environment. The increasing complexity requires the continual revision of design principles and their harmonisation with current scientific findings, technological development, and environmental, social, and economic factors. It is precisely these issues that form the backbone of the thematic book, Sustainable and Resilient Building Design: Approaches, Methods, and Tools. The purpose of this book is to present ongoing research from the universities involved in the project Creating the Network of Knowledge Labs for Sustainable and Resilient Environments (KLABS). The book starts with the exploration of the origin, development, and the state-of-the-art notions of environmental design and resource efficiency. Subsequently, climate change complexity and dynamics are studied, and the design strategy for climate-proof buildings is articulated. The investigation into the resilience of buildings is further deepened by examining a case study of fire protection. The book then investigates interrelations between sustainable and resilient building design, compares their key postulates and objectives, and searches for the possibilities of their integration into an outreaching approach. The fifth article in the book deals with potentials and constraints in relation to the assessment of the sustainability (and resilience) of buildings. It critically analyses different existing building certification models, their development paths, systems, and processes, and compares them with the general objectives of building ratings. The subsequent paper outlines the basis and the meaning of the risk and its management system, and provides an overview of different visual, auxiliary, and statistical risk assessment methods and tools. Following the studies of the meanings of sustainable and resilient buildings, the book focuses on the aspects of building components and materials. Here, the life cycle assessment (LCA) method for quantifying the environmental impact of building products is introduced and analysed in detail, followed by a comprehensive comparative overview of the LCA-based software and databases that enable both individual assessment and the comparison of different design alternatives. The impact of climate and pollution on the resilience of building materials is analysed using the examples of stone, wood, concrete, and ceramic materials. Accordingly, the contribution of traditional and alternative building materials to the reduction of negative environmental impact is discussed and depicted through different examples. The book subsequently addresses existing building stock, in which environmental, social, and economic benefits of building refurbishment are outlined by different case studies. Further on, a method for the upgrade of existing buildings, described as ‘integrated rehabilitation’, is deliberated and supported by best practice examples of exoskeleton architectural prosthesis. The final paper reflects on the principles of regenerative design, reveals the significance of biological entities, and recognises the need to assign to buildings and their elements a more advanced role towards natural systems in human environments.
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Thermal analysis of a carbon-carbon bearing design for exoskeletal engine bearings. [Cleveland, Ohio]: National Aeronautics and Space Administration, Glenn Research Center, 2001.

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Book chapters on the topic "Exoskeleton design"

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Ersoysal, Samet, Niclas Hoffmann, Lennart Ralfs, and Robert Weidner. "Towards a Modular Elbow Exoskeleton: Concepts for Design and System Control." In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 141–52. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-74032-0_12.

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AbstractIn industrial workplaces, strenuous, repetitive, and long-term tasks at head level or above as well as carrying heavy loads may lead to musculoskeletal disorders of different task dependent body parts. With an increasing trend towards wearable support systems, there is already a large quantity of exoskeletons that may support the user during movements, or stabilize postures, in order to reduce strain on various parts of the body. However, most commercially available exoskeletons mainly focus on the back and shoulder support. Only a few of them address the elbow joint, despite it being prone to injury. Therefore, this paper discusses different possible design and control concepts of modular elbow exoskeletons. The modular architecture potentially enables coupling to existing commercial- and research-associated systems, through appropriate interfaces. Different morphological structures and control mechanisms are assessed in respect to their ability to extend common exoskeletons for back and shoulder support. Based on these considerations, a first functional passive prototype is presented, which supports the flexion of the elbow joint and can be coupled to an existing exoskeleton. In future work, the prototype may be used for further elaboration and practical investigations in laboratory settings to evaluate its technical functionality and biomechanical effects on the user.
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Nimje, Abhishek A., Atharva P. Patil, and Dipti Y. Sakhare. "Design of Lower Limb Exoskeleton." In ICT Analysis and Applications, 431–39. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-8354-4_43.

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Britto, Preethika, Rekha Vijayakumar, and Sudesh Sivarasu. "Design Evaluation of REMAP Exoskeleton." In 7th WACBE World Congress on Bioengineering 2015, 110–13. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-19452-3_30.

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Khan, Bilal Alam, Ahmad Raza Usmani, Sheeraz Athar, Anam Hashmi, Omar Farooq, and M. Muzammil. "EEG-Based Exoskeleton for Rehabilitation Therapy." In Design Science and Innovation, 645–53. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-9054-2_75.

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Liu, Fuyuan, Min Chen, Lizhe Wang, Xiang Wang, and Cheng-Hung Lo. "Custom-Fit and Lightweight Optimization Design of Exoskeletons Using Parametric Conformal Lattice." In Proceedings of the 2021 DigitalFUTURES, 129–38. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-5983-6_12.

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AbstractThis paper presents an integrated design method for the customization and lightweight design of free-shaped wearable devices, illustrated by a lower limb exoskeleton. The customized design space is derived from the 3D scanning models. Based on the finite element analysis, the structural framework is determined through topology optimization with allowable strength. By means of generative design, the lattice library is constructed to fill the frames under different conformal algorithms. Finally, the proposed method is illustrated by the exoskeleton design case.
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Ferguson, Peter Walker, Brando Dimapasoc, Yang Shen, and Jacob Rosen. "Design of a Hand Exoskeleton for Use with Upper Limb Exoskeletons." In Biosystems & Biorobotics, 276–80. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01887-0_53.

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De la Cruz-Sánchez, B. A., M. Arias-Montiel, and E. Lugo-González. "Development of Hand Exoskeleton Prototype for Assisted Rehabilitation." In Mechanism Design for Robotics, 378–85. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00365-4_45.

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Moubarak, S., M. T. Pham, T. Pajdla, and T. Redarce. "Design Results of an Upper Extremity Exoskeleton." In IFMBE Proceedings, 1687–90. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-540-89208-3_401.

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Wege, Andreas, and Günter Hommel. "Embedded System Design for a Hand Exoskeleton." In Embedded Systems – Modeling, Technology, and Applications, 169–76. Dordrecht: Springer Netherlands, 2006. http://dx.doi.org/10.1007/1-4020-4933-1_18.

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Guo, Xibin, Zheqing Zuo, Xinyu Ji, Xiancheng Song, and Qiang Xu. "Flattened Joint Design Analysis Technology for Exoskeleton." In Lecture Notes in Electrical Engineering, 463–75. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-6320-8_48.

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Conference papers on the topic "Exoskeleton design"

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Manna, Soumya K., and Venketesh N. Dubey. "Design Proposal for a Portable Elbow Exoskeleton." In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6931.

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Exoskeleton based rehabilitation for post-stroke recovery is being aggressively pursued due to unavailability of adequate number of caregivers and huge investment for the manual treatment [1]. The structural framework for providing different training exercises is not similar for all exoskeletons and there is no standardized protocol for rehabilitation following stroke [2]. Various approaches have been undertaken to come up with customized exoskeleton design for implementing a specific type of exercise. Though a few exoskeletons have proved to be beneficial in terms of clinical outcomes, there is still a long way to go before a useful rehabilitation device becomes acceptable to the users. After reviewing the 46 exoskeletons (commercial or prototypes) [3], two key requirements can be considered for the design of an exoskeleton; the structural parameter which decides the size, weight and the ease of control and the other is the nature of rehabilitation therapy which defines the type and intensity of the exercises performed during training.
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Delgado, Pablo, Lieth Jaradat, and Yimesker Yihun. "Assessment of Task and Joint-Based Exoskeleton Designs for Elbow Joint Rehabilitation." In 2022 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/dmd2022-1034.

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Abstract Exoskeletons and robots have been used as a common practice to assist and automate rehabilitation exercises. Exoskeleton fitting and alignments are important factors and challenges that need to be addressed for smooth and safe operations and better outcomes. Such challenges often dictate the exoskeleton design approaches. Some focus on simplifying and mimicking human joints (joint-based) while others have a focus on a specific task (task-based), which does not need to align with the corresponding limb joint/s to generate the desired anatomical motion. In this study, the two design approaches are assessed in an elbow flexion-extension task. The muscle responses have been collected and compared with and without the exoskeletons. Based on 6 with no disability participants, the normalized Electromyography (EMG) RMS values are plotted. The plot profiles and magnitudes are used as a base to assess the exoskeleton alignment. For this specific task, the task-based exoskeleton has shown a profile closer to the one without exoskeleton with a relatively identical support as the joint-based one; the latter is evidenced through most subjects’ muscle response magnitudes. This preliminary data has shown a good methodology and insight towards the assessment of exoskeletons, but more human subject data is needed with different task combinations to further strengthen the findings.
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Lee, Seunghun, Yujiang Xiang, Ting Xia, and James Yang. "Assessments and Evaluation Methods for Upper Limb Exoskeleton - a Literature Survey." In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/detc2022-88968.

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Abstract Exoskeleton technology has gained great interests in several fields including robotics, medicine, rehabilitation, ergonomics, and military. Especially, upper-limb exoskeletons are developed aiming to increase worker’s physical ability such as stability, force and power production and reduce biomechanical loads, working fatigue, which relieves overexertion risk. Extensive research has been conducted to assess existing and newly proposed exoskeletons, but they still have trade-off and user convenience issues to resolve. Therefore, the primary purpose of this paper is to review classification of the upper-limb exoskeletons and functional assessment, particularly regarding the complex interactions between human and exoskeleton. Secondly the paper is to provide insight in issues associated with the upper-limb exoskeletons. Finally, discussion on future directions for upper limb exoskeleton development and assessment is presented.
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James, Thomas D., and Craig R. Carignan. "Exoskeleton Wrist Design Using Composite Visualization Methods." In ASME 2016 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/imece2016-65445.

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The design process is examined for retrofitting a robotic arm exoskeleton with a three-axis wrist for enhanced teleoperation. Exoskeleton wrist design is particularly challenging due to the need to incorporate three actuated joints into a compact volume, while maintaining a large range of motion. The design process was greatly facilitated by the development of a new visualization method which enabled the designer to examine the interactions between the exoskeleton and its operator in the same virtual workspace. This allowed the designer to evaluate the exoskeleton’s range of motion and ergonomic properties, while also adding task visualization functionality. Future applications of the exoskeleton in telepresence will also be discussed.
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Rose, Lowell, Michael C. F. Bazzocchi, Connal de Souza, Julie Vaughan-Graham, Kara Patterson, and Goldie Nejat. "A Framework for Mapping and Controlling Exoskeleton Gait Patterns in Both Simulation and Real-World." In 2020 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dmd2020-9009.

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Abstract Stroke is a leading cause of disability, and robotic lower body exoskeletons have been developed to aid in gait rehabilitation. The simulation modeling and testing processes are often developed and deployed separately. This introduces additional steps which can hinder on-the-fly customization of gait patterns required for individualized gait rehabilitation. In this paper, we present a centralized control architecture which integrates both the simulated model and the exoskeleton hardware for lower body exoskeletons. The architecture allows for ease of simulating, adapting, and deploying gait patterns on an exoskeleton for use in gait rehabilitation, and allows for the on-the-fly customization and verification of gait patterns by physiotherapists during rehabilitation. Experiments validate the use of our overall control architecture to both model and control a physical exoskeleton, while following desired gait patterns.
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Nasr, Ali, Spencer Ferguson, and John McPhee. "Model-Based Design and Optimization of Passive Shoulder Exoskeletons." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-69437.

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Abstract To physically assist workers in reducing musculoskeletal strain or to develop motor skills for patients with neuromuscular disabilities, recent research has focused on Exoskeletons (Exos). Designing active Exos is challenging due to the complex human geometric structure, the human-Exoskeleton wrench interaction, the kinematic constraints, and the selection of power source characteristics. Because of the portable advantages of passive Exos, designing a passive shoulder mechanism has been studied here. The study concentrates on modeling a 3D multibody upper-limb human-Exoskeleton, developing a procedure of analyzing optimal assistive torque profiles, and optimizing the passive mechanism features for desired tasks. The optimization objective is minimizing the human joint torques. For simulating the complex closed-loop multibody dynamics, differential-algebraic equations (DAE)s of motion have been generated and solved. Three different tasks have been considered, which are common in industrial environments: object manipulation, over-head work, and static pointing. The resulting assistive Exoskeleton’s elevation joint torque profile could decrease the specific task’s human shoulder torque. Since the passive mechanism produces a specific torque for a given elevation angle, the Exoskeleton is not versatile or optimal for different dynamic tasks. We concluded that designing a passive Exoskeleton for a wide range of dynamic applications is impossible. We hypothesize that augmenting an actuator to the mechanism can provide the necessary adjustment torque and versatility for multiple tasks.
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Liu, Xiuhua, Zhihao Zhou, and Qining Wang. "Recognizing Sit-Stand and Stand-Sit Transitions for a Bionic Knee Exoskeleton." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3425.

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Sit-to-stand and stand-to-sit transitions (STS), as one of the most demanding functional task in daily life, are affected by aging or stroke and other neurological injuries. Lower-limb exoskeletons can provide extra assistance for affected limbs to recover functional activities [1]. Several studies presented locomotion mode recognition of sitting, standing and STS, or only STS, or static modes [2–6]. They are based on fusing information of the mechanical sensors worn on the human body, e.g. inertial measurement unit (IMU) [2–4], plantar pressure force [5], barometric pressure[2], EMG [6]. However, most of them put sensors on the human body and did not show experiments integrated with exoskeletons. Since the physical interaction between the exoskeleton and human body, the recognition method might be different when wearing a real exoskeleton. To deal with these problems, in this study we proposed a recognition method about STS based on the multi-sensor fusion information of interior sensors of a light-weight bionic knee exoskeleton (BioKEX). A simple classifier based on Support Vector Machine (SVM) was used considering the computational cost of the processing unit in exoskeleton.
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Jun, Seungkook, Xiaobo Zhou, Daniel K. Ramsey, and Venkat N. Krovi. "Quantitative Methodology for Knee Exoskeleton Design." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34299.

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Traditionally, the design of exoskeletons (from choice of configuration to selection of parameters) as well as the process of fitting this exoskeleton (to the individual user/patient) has largely depended on intuition and/or practical experience of a designer/physiotherapist. However, improper exoskeleton design and/or incorrect fitting can cause buildup of significant residual forces/torques (both at joint and fixation site). Performance can be further compromised by the innate complexity of human motions and need to accommodate the immense individual variability (in terms of patient–geometries, motion–envelopes and musculoskeletal–strength). In this paper, we propose a systematic and quantitative methodology to evaluate various alternate exoskeleton designs using twist- and wrench-based modeling and analysis. This process is applied in the context of a case-study for developing optimal configuration and fixation of a knee brace/exoskeleton. An optimized knee brace is then prototyped using 3D printing and instrumented with 6–DOF force-torque transducer. Knee brace is then physically tested together with a saw-bones knee model in a scaled knee bracing test. Preliminary results of the physical testing of the knee brace show promise and are discussed.
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Tung, Wayne, H. Kazerooni, Dong Jin Hyun, and Stephan McKinley. "On the Design and Control of Exoskeleton Knee." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-4035.

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This paper describes a lightweight (2.7 pounds) exoskeleton orthotics knee which provides controllable resisting torque. In particular, exoskeleton knee uses friction forces between two surfaces to provide resistive torque and impede knee flexion. Creating an impeding torque at the exoskeleton knee will decrease the torque that needs to be provided by the wearer at his/her knee during flexion. The required external power (from batteries) to provide the controllable resistive torque is minimal in comparison to the dissipated locomotion power since the resistive torque generation is “self-energizing” and is using the energy of the knee itself for braking. The exoskeleton knee uses the absolute angle of the thigh for basic functionality; no other measurements such as ground reaction force or the knee joint angle are necessary for basic performance. This allows the exoskeleton knee to be worn not only independently on the wearer’s knee but also in conjunction with hip, ankle or foot exoskeletons. This gives a great deal of flexibility for use of exoskeleton knees in variety of medical, civilian and military applications.
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Rituraj, Rituraj, Rudolf Scheidl, Peter Ladner, and Martin Lauber. "A Novel Design Concept of Digital Hydraulic Drive for Knee Exoskeleton." In ASME/BATH 2021 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/fpmc2021-68590.

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Abstract Hydraulic actuation of exoskeletons has gained interest among researchers due the potentials of high power density and energy recuperation allowing the reduction of mass and space used by the device (when compared to the traditional electrically actuated exoskeletons). However, developing a light and cost-effective design of such exoskeleton remains a key challenge. In this work, a novel design of digitally driven knee exoskeleton is presented. The design uses simple hydraulic cylinders instead of multi-chamber cylinders (which are typically used in digital actuations and are expensive). The design also includes a unique mechanism that is able to satisfy the peak torque requirements during a typical gait cycle with a smaller hydraulic force. This ensures small size of hydraulic components and a moderate power demand from the energy source. To study this exoskeleton design, a numerical model of the exoskeleton and the lower limb is developed in this work. The simulation results show that the design is able to track the motion of the knee in a typical gait cycle as well as satisfy the necessary torque requirements.
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Reports on the topic "Exoskeleton design"

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Remin, Steven J. Design of an Exoskeleton with Kinesthetic Feedback; Lessons Learned. Fort Belvoir, VA: Defense Technical Information Center, January 1990. http://dx.doi.org/10.21236/ada452553.

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Yang, Xinwei, Huan Tu, and Xiali Xue. The improvement of the Lower Limb exoskeletons on the gait of patients with spinal cord injury: A protocol for systematic review and meta-analysis. INPLASY - International Platform of Registered Systematic Review and Meta-analysis Protocols, August 2021. http://dx.doi.org/10.37766/inplasy2021.8.0095.

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Review question / Objective: The purpose of this systematic review and meta-analysis was to determine the efficacy of lower extremity exoskeletons in improving gait function in patients with spinal cord injury, compared with placebo or other treatments. Condition being studied: Spinal Cord Injury (SCI) is a severely disabling disease. In the process of SCI rehabilitation treatment, improving patients' walking ability, improving their self-care ability, and enhancing patients' self-esteem is an important aspect of their return to society, which can also reduce the cost of patients, so the rehabilitation of lower limbs is very important. The lower extremity exoskeleton robot is a bionic robot designed according to the principles of robotics, mechanism, bionics, control theory, communication technology, and information processing technology, which can be worn on the lower extremity of the human body and complete specific tasks under the user's control. The purpose of this study was to evaluate the effect of the lower extremity exoskeleton on the improvement of gait function in patients with spinal cord injury.
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