Journal articles on the topic 'Exoskeleton design'
To see the other types of publications on this topic, follow the link: Exoskeleton design.
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 journal articles for your research on the topic 'Exoskeleton design.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.
1
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.
Full textAbstract:
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.
2
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.
Full textAbstract:
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.
3
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.
Full textAbstract:
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.
4
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.
Full textAbstract:
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.
5
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.
Full textAbstract:
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.
6
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.
Full textAbstract:
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.
7
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.
Full textAbstract:
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.
8
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.
Full textAbstract:
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.
9
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.
Full textAbstract:
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.
10
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.
Full textAbstract:
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.
11
Ma, Jianfeng, Decheng Sun, Yongqing Ding, Daihe Luo, and Xiao Chen. "Cooperativity Model for Improving the Walking-Assistance Efficiency of the Exoskeleton." Micromachines 13, no. 7 (July 21, 2022): 1154. http://dx.doi.org/10.3390/mi13071154.
Full textAbstract:
(1) Background: To enhance the walking-assistance efficiencies of exoskeletons, this paper proposed the biomechanical-based cooperativity model based on a passive exoskeleton prototype to fill the technical gap in exoskeleton design regarding the torque transmission law between humans and exoskeletons. (2) Methods: The cooperativity model was used to solve the key system parameters based on the minimum average dispersion degree, in which the average dispersion degree algorithm based on the joint angle was designed and applied. (3) Results: The influence of the cooperativity model on the exoskeleton was indicated by comparing the walking-assistance efficiencies of the exoskeletons with the same structure but with different elastic parameters of the energy storage components, in which the exoskeleton based on the cooperativity design exhibited the highest walking-assistance performance. The walking-assistance efficiency of the exoskeleton with the optimal parameter combinations was also tested by comparing the respiratory metabolisms with and without the exoskeleton, in which the exoskeleton provided the average walking-assistance efficiency of 14.45% for more than 80% of the subjects. (4) Conclusions: The effects of the cooperativity model on exoskeletons were proven, but the accuracy and efficiency of the model still have room for improvement, especially the accuracy of the offset principle.
12
Wang, Tianshuo, Tianjiao Zheng, Sikai Zhao, Dongbao Sui, Jie Zhao, and Yanhe Zhu. "Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot." Sensors 22, no. 3 (January 29, 2022): 1055. http://dx.doi.org/10.3390/s22031055.
Full textAbstract:
Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series–parallel elastic actuator (SPEA) is designed, in this work, to meet the demanding requirements of an exoskeleton robot called PALExo. A gas spring is installed in parallel with an electric cylinder to adjust the force output range of the actuator according to the needs of the exoskeleton. A series elastic module (SEM) is installed in series with the electric cylinder and gas spring to improve the compliance of the actuator, the stiffness of which is variable to adapt to the different stiffness requirements of the exoskeleton’s legs in the standing phase and swinging phase. A force controller combining dynamic compensation and a cascade control with an inner velocity loop and a disturbance observer is designed for the SPEA. The performance of the force controller is verified by experiments and the results demonstrate that the controller has good adaptability to the stiffness of the SEM.
13
Gull, Muhammad Ahsan, Shaoping Bai, and Thomas Bak. "A Review on Design of Upper Limb Exoskeletons." Robotics 9, no. 1 (March 17, 2020): 16. http://dx.doi.org/10.3390/robotics9010016.
Full textAbstract:
Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.
14
Esposito, Daniele, Jessica Centracchio, Emilio Andreozzi, Sergio Savino, Gaetano D. Gargiulo, Ganesh R. Naik, and Paolo Bifulco. "Design of a 3D-Printed Hand Exoskeleton Based on Force-Myography Control for Assistance and Rehabilitation." Machines 10, no. 1 (January 13, 2022): 57. http://dx.doi.org/10.3390/machines10010057.
Full textAbstract:
Voluntary hand movements are usually impaired after a cerebral stroke, affecting millions of people per year worldwide. Recently, the use of hand exoskeletons for assistance and motor rehabilitation has become increasingly widespread. This study presents a novel hand exoskeleton, designed to be low cost, wearable, easily adaptable and suitable for home use. Most of the components of the exoskeleton are 3D printed, allowing for easy replication, customization and maintenance at a low cost. A strongly underactuated mechanical system allows one to synergically move the four fingers by means of a single actuator through a rigid transmission, while the thumb is kept in an adduction or abduction position. The exoskeleton’s ability to extend a typical hypertonic paretic hand of stroke patients was firstly tested using the SimScape Multibody simulation environment; this helped in the choice of a proper electric actuator. Force-myography was used instead of the standard electromyography to voluntarily control the exoskeleton with more simplicity. The user can activate the flexion/extension of the exoskeleton by a weak contraction of two antagonist muscles. A symmetrical master–slave motion strategy (i.e., the paretic hand motion is activated by the healthy hand) is also available for patients with severe muscle atrophy. An inexpensive microcontroller board was used to implement the electronic control of the exoskeleton and provide feedback to the user. The entire exoskeleton including batteries can be worn on the patient’s arm. The ability to provide a fluid and safe grip, like that of a healthy hand, was verified through kinematic analyses obtained by processing high-framerate videos. The trajectories described by the phalanges of the natural and the exoskeleton finger were compared by means of cross-correlation coefficients; a similarity of about 80% was found. The time required for both closing and opening of the hand exoskeleton was about 0.9 s. A rigid cylindric handlebar containing a load cell measured an average power grasp force of 94.61 N, enough to assist the user in performing most of the activities of daily living. The exoskeleton can be used as an aid and to promote motor function recovery during patient’s neurorehabilitation therapy.
15
Liang, Renghao, Guanghua Xu, Qiuxiang Zhang, Kaiyuan Jiang, Min Li, and Bo He. "Design and Characterization of a Rolling-Contact Involute Joint and Its Applications in Finger Exoskeletons." Machines 10, no. 5 (April 24, 2022): 301. http://dx.doi.org/10.3390/machines10050301.
Full textAbstract:
The hand exoskeleton has been widely studied in the fields of hand rehabilitation and grasping assistance tasks. Current hand exoskeletons face challenges in combining a user-friendly design with a lightweight structure and accurate modeling of hand motion. In this study, we developed a finger exoskeleton with a rolling contact involute joint. Specific implementation methods were investigated, including an analysis of the mechanical characteristics of the involute joint model, the formula derivation of the joint parameter optimization algorithm, and the design process for a finger exoskeleton with an involute joint. Experiments were conducted using a finger exoskeleton prototype to evaluate the output trajectory and grasping force of the finger exoskeleton. An EMG-controlled hand exoskeleton was developed to verify the wearability and functionality of the glove. The experimental results show that the proposed involute joint can provide sufficient fingertip force (10N) while forming a lightweight exoskeleton to assist users with functional hand rehabilitation and grasping activities.
16
Şahin, Yusuf, Fatih Mehmet Botsalı, Mete Kalyoncu, Mustafa Tinkir, Ümit Önen, Nihat Yılmaz, and Abdullah Çakan. "Mechanical Design of Lower Extremity Exoskeleton Assisting Walking of Load Carrying Human." Applied Mechanics and Materials 598 (July 2014): 141–45. http://dx.doi.org/10.4028/www.scientific.net/amm.598.141.
Full textAbstract:
Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications as well. This paper presents to design of a lower-extremity exoskeleton assisting walking of a load carrying human. Proposed exoskeleton system is designed to be appropriate mechanism with human lower extremity and it operates synchronously with the human realizes. The aim of exoskeleton actuator system is to provide forces against to external load carried by user during walking, sitting, and standing motions. Thus, it supports human walking and significant portion of external load carrying by the user. Also it makes possible to user spend less energy, less stress and fatigue. Proposed work involves the following design steps: kinematic synthesis of the exoskeleton, mechanical and electro-hydraulic system design.
17
Liu, Fang, Wen Ming Cheng, and Lan He. "Finite Element Analysis of Portable Exoskeleton Based on Ergonomics Parameters Model." Applied Mechanics and Materials 215-216 (November 2012): 168–73. http://dx.doi.org/10.4028/www.scientific.net/amm.215-216.168.
Full textAbstract:
Improvement of Weight capacity and weight-bearing exercise endurance in human are the main purpose of Portable Exoskeleton. The object of study is the Exoskeletons mechanical structure and through it to improve the structure bearing capacity. Firstly, this study takes the data of Chinese adult body size as the related parameters in ergonomics of Exoskeleton. Also the ergonomics parameters of pivotal bearing parts such as hip, thighs and legs will be confirmed according to the 50 percentage data of the data of Chinese adult body size. Based on it, 3D model of Portable Exoskeleton have been established by using Solidworks software and fast assembly of Exoskeleton’s parts have been accomplished. At the same time 3D Model have been conversed the x_t format and to be guided into the ANSYS software. A finite element based strength analysis of the mechanical structure of the external skeletal is then achieved with the load being 800N and the operating condition being one-leg standing. The numerical results show that key parts of the external skeletal meet the requirements. The maximum stress value is 127Mpa by ignoring the stress concentration phenomenon, confirming the reasonability of the structure design. Nevertheless, stress value on exoskeleton joints exceeds the material strength, some suggestions are then proposed on joint design.
18
Shore, Linda, Valerie Power, Bernard Hartigan, Samuel Schülein, Eveline Graf, Adam de Eyto, and Leonard O’Sullivan. "Exoscore: A Design Tool to Evaluate Factors Associated With Technology Acceptance of Soft Lower Limb Exosuits by Older Adults." Human Factors: The Journal of the Human Factors and Ergonomics Society 62, no. 3 (August 16, 2019): 391–410. http://dx.doi.org/10.1177/0018720819868122.
Full textAbstract:
Objective This pilot study proposed and performs initial testing with Exoscore, a design evaluation tool to assess factors related to acceptance of exoskeleton by older adults, during the technology development and testing phases. Background As longevity increases and our aging population continues to grow, assistive technologies such as exosuits and exoskeletons can provide enhanced quality of life and independence. Exoscore is a design and prototype stage evaluation method to assess factors related to perceptions of the technology, the aim being to optimize technology acceptance. Method In this pilot study, we applied the three-phase Exoscore tool during testing with 11 older adults. The aims were to explore the feasibility and face validity of applying the design evaluation tool during user testing of a prototype soft lower limb exoskeleton. Results The Exoscore method is presented as part of an iterative design evaluation process. The method was applied during an exoskeleton research and development project. The data revealed the aspects of the concept design that rated favorably with the users and the aspects of the design that required more attention to improve their potential acceptance when deployed as finished products. Conclusion Exoscore was effectively applied to three phases of evaluation during a testing session of a soft exoskeleton. Future exoskeleton development can benefit from the application of this design evaluation tool. Application This study reveals how the introduction of Exoscore to exoskeleton development will be advantageous when assessing technology acceptance of exoskeletons by older adults.
19
Copilusi, Cristian, Sorin Dumitru, Ionut Geonea, Leonard Gherghe Ciurezu, and Nicolae Dumitru. "Design Approaches of an Exoskeleton for Human Neuromotor Rehabilitation." Applied Sciences 12, no. 8 (April 13, 2022): 3952. http://dx.doi.org/10.3390/app12083952.
Full textAbstract:
This paper addresses a design for an exoskeleton used for human locomotion purposes in cases of people with neuromotor disorders. The reason for starting this research was given by the development of some intelligent systems for walking recovery involved in a new therapy called stationary walking therapy. This therapy type will be used in this research case, through a robotic system specially designed for functional walking recovery. Thus, the designed robotic system structure will have a patient lifting/positioning mechanism, a special exoskeleton equipped with sensors and actuators, a treadmill for walking, and a command and control unit. The exoskeleton’s lower limbs will have six orthotic devices. Thus, the exoskeleton’s lower limbs’ motions and orthoses angle variations will be generated by healthy human subjects on the treadmill with the possibility of memorizing these specific motions for obtaining one complete gait cycle. After this, the memorized motions will be performed to a patient with neuromotor disorders for walking recovery programs. The design core is focused on two planar-parallel mechanisms implemented at the knee and ankle joints of each leg’s exoskeleton. Thus, numerical simulations for the design process were carried out to validate the engineering feasibility of the proposed leg exoskeleton.
20
Han, Ming, Baojun Shi, Shijie Wang, Tiejun Li, Jianbin Feng, and Tao Ma. "Parameter Optimization and Experimental Analysis of Passive Energy Storage Power-Assisted Exoskeleton." Mathematical Problems in Engineering 2020 (November 3, 2020): 1–11. http://dx.doi.org/10.1155/2020/5074858.
Full textAbstract:
To address the occurrence of lumbar spine disease among labor workers who carry heavy objects, a passive energy storage based exoskeletal apparatus was designed to assist, using springs as energy storage elements and utilizing the change in energy that occurs when the human body is bent during the process of lifting objects. First, the mechanism of the exoskeleton was statically modeled; the spring stiffnesses and the locations of support points were used as design variables to optimize the model by optimizing the effective moment on the lumbar spine. Next, an optimized algorithm (Optdes-Sqp) based on the Newton method for solving quadratic programming subproblems was applied to optimize the stiffnesses of compression and extension springs and the positions of the upper support points of each spring. The accuracy of the simulated model was also verified using MATLAB software. Finally, the effect of optimization was verified, and the respiratory rates and heart rates of subjects before and after wearing the exoskeleton were analyzed. The experimental results show that the exoskeleton designed in this study assisted the subjects, and the results lay the foundation for follow-up designs and studies of exoskeletons.
21
Yun, Junghwan, Ohhyun Kang, and Hyun-Min Joe. "Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton." Sensors 21, no. 12 (June 11, 2021): 4037. http://dx.doi.org/10.3390/s21124037.
Full textAbstract:
This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer’s required torque by easily applying it to the cam–follower structure was developed. An exoskeleton dynamic equation that can calculate a person’s required joint torque given the required payload and the wearer’s posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam–follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton.
22
Gerasimova, A. A., A. O. Karfidov, M. V. Vasilyev, and A. O. Karfidova. "Improving the Design of an Industrial Exoskeleton Prototype Using Innovative Technologies." Occupational Safety in Industry, no. 1 (January 2022): 77–82. http://dx.doi.org/10.24000/0409-2961-2022-1-77-82.
Full textAbstract:
The work is devoted to the study and improvement of the design efficiency of industrial exoskeletons. Such devices are needed to perform the work that requires high physical activity in various production processes. To determine the optimal design, the developments of foreign and domestic markets were studied. It was revealed that the exoskeleton developed by Karfidov Lab LLC has the highest performance characteristics compared to the analogues. However, this design lacks a convenient saddle attachment system to support the user, and the exoskeleton is heavy — 6 kg. The authors proposed the modernization of the design of an industrial exoskeleton for the lower extremities. Modernization is associated with the use of solutions aimed at reducing the weight of the exoskeleton, as well as improving ergonomics by developing a saddle for each leg of the exoskeleton and a user fixation system. For this purpose, a solid-state 3D model and design documentation for producing exoskeleton were developed in the SolidWorks environment. To reduce the weight of the exoskeleton, plastic parts were used. The exoskeleton provides support for the user body, made in the form of a vest, as well as a fixation system in the form of straps located on the foot, shin, and thigh. To ensure increased shock absorption with an active exoskeleton, a gas spring manufactured by Suspa, model Varilock EL2-111-79-600N, was installed. To increase the strength of plastic parts, the reinforcement method was used. A saddle is introduced that provides a soft contact between the user and the system in the active and passive positions of the exoskeleton. The main requirements for the modernized development were the low cost of the final product and the lightness of the overall mass of the structure.
23
Hu, Bingshan, Fuchao Zhang, Hongrun Lu, Huaiwu Zou, Jiantao Yang, and Hongliu Yu. "Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism." Actuators 10, no. 11 (October 29, 2021): 290. http://dx.doi.org/10.3390/act10110290.
Full textAbstract:
Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, lower weight and cost, and have great application potential. Applying assist force according to the patient’s needs can give full play to the wearer’s remaining muscle strength, which is more conducive to muscle strength training and motor function recovery. In this paper, a design scheme of an elbow exoskeleton driven by flexible antagonistic cable actuators is proposed. The cable actuator is driven by a nonlinear series elastic mechanism, in which the elastic elements simulate the passive elastic properties of human skeletal muscle. Based on an improved elbow musculoskeletal model, the assist torque of exoskeleton is predicted. An assist-as-needed (AAN) control algorithm is proposed for the exoskeleton and experiments are carried out. The experimental results on the experimental platform show that the root mean square error between the predicted assist torque and the actual assist torque is 0.00226 Nm. The wearing experimental results also show that the AAN control method designed in this paper can reduce the activation of biceps brachii effectively when the exoskeleton assist level increases.
24
Osipov, Arthur. "Fire exoskeleton to facilitate the work of the fireman." E3S Web of Conferences 126 (2019): 00015. http://dx.doi.org/10.1051/e3sconf/201912600015.
Full textAbstract:
Classification of existing exoskeletons is given, variants of their possible application are considered. The review of fire exoskeletons is presented, their design features are given. Advantages and disadvantages of fire exoskeletons are analyzed. The stability of the robotic device is proved by calculation. The concept of fire exoskeleton-nozzleman to facilitate the work of firefighters is proposed. As a result of computational-analytical and practical researches, the concept of a fire exoskeleton-nozzleman is developed for simplification of operative work of the nozzleman during a fire. Practical application of the exoskeleton-nozzleman firefighter allows to normalize the working conditions of the nozzleman, to release three combat units of the personnel, to increase the efficiency of firefighting.
25
Gull, Muhammad Ahsan, Mikkel Thoegersen, Stefan Hein Bengtson, Mostafa Mohammadi, Lotte N. S. Andreasen Struijk, Thomas B. Moeslund, Thomas Bak, and Shaoping Bai. "A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation." Applied Sciences 11, no. 13 (June 24, 2021): 5865. http://dx.doi.org/10.3390/app11135865.
Full textAbstract:
Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.
26
Zhang, Jiaqi, Ming Cong, Dong Liu, Yu Du, and Hongjiang Ma. "Push recovery control for the underactuated lower extremity exoskeleton based on improved capture point concept." Assembly Automation 41, no. 4 (June 24, 2021): 457–65. http://dx.doi.org/10.1108/aa-08-2020-0109.
Full textAbstract:
Purpose The purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the problem that biped robot stability criterion cannot be fully applied to the underactuated lower limb exoskeletons. Design/methodology/approach The method used in this paper is to construct an underactuated lower extremity exoskeleton ankle joint with a torsion spring. Based on the constructed exoskeleton, the linear inverted torsion spring pendulum model is proposed, and the traditional capture point (CP) concept is optimized. Findings The underactuated exoskeleton ankle joint with torsion springs, combined with the improved CP concept, can effectively reduce the forward stepping distance under the same interference condition, which is equivalent to enhancing the balance ability of the lower extremity exoskeleton. Originality/value The contribution of this paper is to enhance the balance ability of the exoskeleton of the lower limbs under large interference conditions. The torsion spring is used as the exoskeleton ankle joint, and the traditional CP concept is optimized according to the constructed exoskeleton.
27
Cao, Enguo, MengYi Ren, YuTian Cui, Kun Wang, and Bin Yang. "Design of a multi-resiliency exoskeleton and its physiologic cost evaluation in uphill walking and stair climbing locomotion." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 236, no. 5 (October 18, 2021): 2115–27. http://dx.doi.org/10.1177/09544062211026356.
Full textAbstract:
Background In recent years, as the large own weight of active exoskeleton brings some difficulty to energy-sustainable, studies have shown that passive lower extremity exoskeletons can also reduce the energy consumption of human locomotion, but the energy saving is still relatively small compared with the total consumption. Methods A passive lower limb exoskeleton named Multi-Resiliency was described, and design parameters were estimated based on inverse dynamics. Furthermore, a series of experiments was designed for assessing the assisting effect of the exoskeleton in uphill walking and upstairs activities. Results In the inverse dynamics analysis, the spring release angle θmax was confirmed to be 45° for increasing assist performance of the exoskeleton. In the exoskeleton wearing experiments, the energy expenditure of subjects were decreased by 14.3% in uphill walking test and 16.0% in stair climbing test respectively. Conclusion The results show that the design of Multi-Resiliency exoskeleton is reasonable and it may effectively improve walking efficiency during uphill walking and stair climbing activities.
28
Hartmann, Vitor Neves, Décio de Moura Rinaldi, Camila Taira, and Arturo Forner-Cordero. "Industrial Upper-Limb Exoskeleton Characterization: Paving the Way to New Standards for Benchmarking." Machines 9, no. 12 (December 17, 2021): 362. http://dx.doi.org/10.3390/machines9120362.
Full textAbstract:
Exoskeletons have been introduced in industrial environments to prevent overload or repetitive stress injuries in workers. However, due to the lack of public detailed information about most of the commercial exoskeletons, it is necessary to further assess their load capacity and evolution over time, as their performance may change with use. We present the design and construction of a controlled device to measure the torque of industrial exoskeletons, along with the results of static and dynamic testing of an exoskeleton model. A step motor in the test bench moves the exoskeleton arm in a pre-defined path at a prescribed speed. The force measured with a beam load cell located at the interface between the exoskeleton arm and the test bench is used to derive the torque. The proposed test bench can be easily modified to allow different exoskeleton models to be tested under the same conditions.
29
Birouaș, Flaviu Ionuț, Radu Cătălin Țarcă, Simona Dzitac, and Ioan Dzitac. "Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation." Symmetry 12, no. 9 (September 7, 2020): 1470. http://dx.doi.org/10.3390/sym12091470.
Full textAbstract:
Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.
30
Hess-Coelho, Tarcisio Antonio, Milton Cortez, Rafael Traldi Moura, and Arturo Forner-Cordero. "Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology." Machines 10, no. 4 (March 30, 2022): 248. http://dx.doi.org/10.3390/machines10040248.
Full textAbstract:
Among the variety of applications of exoskeletons, it is possible to mention motor rehabilitation, enhancement of human capabilities and providing support to different types of tasks. Despite the remarkable achievements in this field, two major issues still need to be improved in the exoskeleton design methodology, the mechanical design and the controller. Considering that the dynamic modelling approach plays a key role in these issues, this article proposes the use of modular modelling methodology for the development of exoskeletons. Initially, the conceptual design of a lower limb exoskeleton is presented, then its kinematic and dynamic models are calculated. Finally, some performed simulations demonstrate the model consistency and the actuator torques estimation.
31
Hill, Deborah, Catherine Sarah Holloway, Dafne Zuleima Morgado Ramirez, Peter Smitham, and Yannis Pappas. "WHAT ARE USER PERSPECTIVES OF EXOSKELETON TECHNOLOGY? A LITERATURE REVIEW." International Journal of Technology Assessment in Health Care 33, no. 2 (2017): 160–67. http://dx.doi.org/10.1017/s0266462317000460.
Full textAbstract:
Objectives: Exoskeletons are electromechanical devices that are worn by a human operator to increase their physical performance. Several exoskeletons have been developed to restore functional movements, such as walking, for those with paralysis due to neurological impairment. However, existing exoskeletons have limitations with respect to affordability, size, weight, speed, and efficiency, which may reduce their functional application. Therefore, the aim of this scoping review is to collect and narratively synthesize the perspectives of users of exoskeleton technology.Methods: A systematic literature search was conducted across several healthcare related online databases.Results: A total of 4,619 articles were identified, of which 51 were selected for full review. Only three studies were identified that met the inclusion criteria. Of these, one showed an incongruence between users’ expectations and experiences of device use; another reported perspectives on potential rather than actual device use, ranking design features in order of perceived importance; and the other reported ratings of ease of device use in training.Conclusions: The heterogeneity of studies included within this review, leave the authors unable to suggest consensus as to user perspectives of exoskeleton technology. However, it is apparent that users are able to suggest priorities for exoskeleton design and that users’ perspectives of exoskeleton technology might change in response to experience of use. The authors, therefore, suggest that exoskeleton design should be an iterative process, whereby user perspectives are sought, incorporated and refined by tangible experience, to ensure that devices developed are acceptable to and usable by the populations they seek to re-enable.
32
Bequette, Blake, Adam Norton, Eric Jones, and Leia Stirling. "Physical and Cognitive Load Effects Due to a Powered Lower-Body Exoskeleton." Human Factors: The Journal of the Human Factors and Ergonomics Society 62, no. 3 (March 23, 2020): 411–23. http://dx.doi.org/10.1177/0018720820907450.
Full textAbstract:
Objective The aim of this study is to determine the effects of a powered exoskeleton on measures of physical and cognitive performance. Background US warfighters carry heavy equipment into battle, and exoskeletons may reduce that burden. While exoskeletons are currently evaluated for their effects on physical performance, their cognitive effects are not currently considered. Method Twelve military members participated in a simulated patrol task under three conditions: wearing a powered exoskeleton (PWR), an unpowered exoskeleton (UNP), and without wearing an exoskeleton (OFF). While following a confederate over obstacles at a constant pace, participants performed additional audio and visual tasks. Dependent measures included visual misses, visual reaction time, audio misses, audio reaction time, incremental lag time, and NASA-TLX scores. Results The variability in the follow-task lag time was lowest with OFF and highest with UNP, highlighting reduced ability to maintain pace with the exoskeleton. Visual reaction time was significantly slower with PWR compared to OFF for 5 of 12 subjects. The NASA-TLX overall workload scores were lower for OFF compared to PWR and UNP. Conclusion Efforts to understand individual variability are warranted such that exoskeleton designs can be used for a wider set of the population. While not all subjects had measurable differences in the selected performance tasks, the perception of increased workload was present across subjects. It remains to be determined what difference in reaction time would be operationally relevant for task-specific settings. Application Findings draw attention to the need to consider “cognitive fit” and subject differences in the design and implementation of exoskeletons.
33
Di Natali, Christian, Tommaso Poliero, Matteo Sposito, Eveline Graf, Christoph Bauer, Carole Pauli, Eliza Bottenberg, et al. "Design and Evaluation of a Soft Assistive Lower Limb Exoskeleton." Robotica 37, no. 12 (February 26, 2019): 2014–34. http://dx.doi.org/10.1017/s0263574719000067.
Full textAbstract:
SummaryWearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft exoskeletons (also called exosuits) to enable both physical assistance and improved usability and acceptance for users. The XoSoft EU project has developed a modular soft lower limb exoskeleton to assist people with low mobility impairments. In this paper, we present the design of a soft modular lower limb exoskeleton to improve person’s mobility, contributing to independence and enhancing quality of life. The novelty of this work is the integration of quasi-passive elements in a soft exoskeleton. The exoskeleton provides mechanical assistance for subjects with low mobility impairments reducing energy requirements between 10% and 20%. Investigation of different control strategies based on gait segmentation and actuation elements is presented. A first hip–knee unilateral prototype is described, developed, and its performance assessed on a post-stroke patient for straight walking. The study presents an analysis of the human–exoskeleton energy patterns by way of the task-based biological power generation. The resultant assistance, in terms of power, was 10.9% ± 2.2% for hip actuation and 9.3% ± 3.5% for knee actuation. The control strategy improved the gait and postural patterns by increasing joint angles and foot clearance at specific phases of the walking cycle.
34
Yatsun, S. F., O. G. Loktionova, Khalil Hamed Mohammed Hamood Al Manji, A. S. Yatsun, and A. E. Karlov. "Simulation of Controlled Motion of a Person When Walking in an Exoskeleton." Proceedings of the Southwest State University 23, no. 6 (February 23, 2020): 133–47. http://dx.doi.org/10.21869/2223-1560-2019-23-6-133-147.
Full textAbstract:
Purpose of reseach. Robot exoskeletons open up new possibilities in the rehabilitation of patients with lower limb injuries. Despite the growing number of publications on this topic, many issues related to the development of design tools based on the simulation of human movement in an exoskeleton using the theoretical basis of stable movement in the upright position have not been studied well enough. Therefore, the purpose of this paper is to develop methods for improving the efficiency of the lower extremity exoskeleton control system for biped gait. Methods. The key feature of the paper is the application of modeling techniques determining the laws of the exoskeleton motion. Methods of mathematical modeling of the motion of sections are used, taking into account their subsequent possible use in modeling the motion of exoskeleton sections; trajectory equations are composed using the vector-matrix method. The trajectories of the exoskeleton's foot, lower leg, and hip movement during steady walking are studied.Results. To simulate the operation of a robotic complex - a prototype of an exoskeleton of the lower extremities with ten active degrees of freedom, kinematic definition the trajectory of the sections is used. To find the vector of generalized coordinates, the inverse kinematics problem is solved applying the vector-matrix method using the Jacobian matrix. The results of numerical simulation show high convergence and eficacy of the proposed method. The proposed method allows defining the trajectory of the operator in the exoskeleton in real devices.Conclusion. In the paper, the study of walking is performed from the standpoint of modeling a quasi-static gait using kinematic approaches. The developed method for determining the defining angles of rotation of the exoskeleton sections for different foot positions taking into account the position of the mass center projections, is used in the development of algorithms for controlling human motion in the exoskeleton.
35
Fisahn, Christian, Mirko Aach, Oliver Jansen, Marc Moisi, Angeli Mayadev, Krystle T. Pagarigan, Joseph R. Dettori, and Thomas A. Schildhauer. "The Effectiveness and Safety of Exoskeletons as Assistive and Rehabilitation Devices in the Treatment of Neurologic Gait Disorders in Patients with Spinal Cord Injury: A Systematic Review." Global Spine Journal 6, no. 8 (November 3, 2016): 822–41. http://dx.doi.org/10.1055/s-0036-1593805.
Full textAbstract:
Study Design Systematic review. Clinical Questions (1) When used as an assistive device, do wearable exoskeletons improve lower extremity function or gait compared with knee-ankle-foot orthoses (KAFOs) in patients with complete or incomplete spinal cord injury? (2) When used as a rehabilitation device, do wearable exoskeletons improve lower extremity function or gait compared with other rehabilitation strategies in patients with complete or incomplete spinal cord injury? (3) When used as an assistive or rehabilitation device, are wearable exoskeletons safe compared with KAFO for assistance or other rehabilitation strategies for rehabilitation in patients with complete or incomplete spinal cord injury? Methods PubMed, Cochrane, and Embase databases and reference lists of key articles were searched from database inception to May 2, 2016, to identify studies evaluating the effectiveness of wearable exoskeletons used as assistive or rehabilitative devices in patients with incomplete or complete spinal cord injury. Results No comparison studies were found evaluating exoskeletons as an assistive device. Nine comparison studies (11 publications) evaluated the use of exoskeletons as a rehabilitative device. The 10-meter walk test velocity and Spinal Cord Independence Measure scores showed no difference in change from baseline among patients undergoing exoskeleton training compared with various comparator therapies. The remaining primary outcome measures of 6-minute walk test distance and Walking Index for Spinal Cord Injury I and II and Functional Independence Measure–Locomotor scores showed mixed results, with some studies indicating no difference in change from baseline between exoskeleton training and comparator therapies, some indicating benefit of exoskeleton over comparator therapies, and some indicating benefit of comparator therapies over exoskeleton. Conclusion There is no data to compare locomotion assistance with exoskeleton versus conventional KAFOs. There is no consistent benefit from rehabilitation using an exoskeleton versus a variety of conventional methods in patients with chronic spinal cord injury. Trials comparing later-generation exoskeletons are needed.
36
Shi, Yunde, Mingqiu Guo, Heran Zhong, Xiaoqiang Ji, Dan Xia, Xiang Luo, and Yuan Yang. "Kinetic Walking Energy Harvester Design for a Wearable Bowden Cable-Actuated Exoskeleton Robot." Micromachines 13, no. 4 (April 3, 2022): 571. http://dx.doi.org/10.3390/mi13040571.
Full textAbstract:
Over the past few decades, wearable exoskeletons of various forms have been developed to assist human activities or for rehabilitation of movement disorders. However, sustainable exoskeletons with efficient energy harvesting devices still have not been fully explored. In this paper, we propose the design of a lightweight wearable Bowden-cable-actuated soft exoskeleton robot with energy harvesting capability. Unlike previous wearable exoskeletons, the presented exoskeleton uses an electromagnetic generator to both harvest biomechanical energy and to output mechanical torque by controlling an operation mode relay switch based on a human’s gait. Moreover, the energy-harvesting module also acts as a knee impact absorber for the human, where the effective damping level can be modulated in a controlled manner. The harvested energy is regulated and stored in super capacitors for powering wireless sensory devices when needed. The experimental results show an average of a 7.91% reduction in thigh muscle activity, with a maximum of 3.2 W of electric power being generated during movement downstairs. The proposed design offers important prospects for the realization of lightweight wearable exoskeletons with improved efficiency and long-term sustainability.
37
Tang, Xinyao, Xupeng Wang, Xiaomin Ji, Yawen Zhou, Jie Yang, Yuchen Wei, and Wenjie Zhang. "A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement." Micromachines 13, no. 6 (June 6, 2022): 900. http://dx.doi.org/10.3390/mi13060900.
Full textAbstract:
Human body enhancement is an interesting branch of robotics. It focuses on wearable robots in order to improve the performance of human body, reduce energy consumption and delay fatigue, as well as increase body speed. Robot-assisted equipment, such as wearable exoskeletons, are wearable robot systems that integrate human intelligence and robot power. After careful design and adaptation, the human body has energy-saving sports, but it is an arduous task for the exoskeleton to achieve considerable reduction in metabolic rate. Therefore, it is necessary to understand the biomechanics of human sports, the body, and its weaknesses. In this study, a lower limb exoskeleton was classified according to the power source, and the working principle, design idea, wearing mode, material and performance of different types of lower limb exoskeletons were compared and analyzed. The study shows that the unpowered exoskeleton robot has inherent advantages in endurance, mass, volume, and cost, which is a new development direction of robot exoskeletons. This paper not only summarizes the existing research but also points out its shortcomings through the comparative analysis of different lower limb wearable exoskeletons. Furthermore, improvement measures suitable for practical application have been provided.
38
Fang, Shanpu, Vinayak Vijayan, Megan E. Reissman, Allison L. Kinney, and Timothy Reissman. "How Do Joint Kinematics and Kinetics Change When Walking Overground with Added Mass on the Lower Body?" Sensors 22, no. 23 (November 25, 2022): 9177. http://dx.doi.org/10.3390/s22239177.
Full textAbstract:
Lower-limb exoskeletons, regardless of their control strategies, have been shown to alter a user’s gait just by the exoskeleton’s own mass and inertia. The characterization of these differences in joint kinematics and kinetics under exoskeleton-like added mass is important for the design of such devices and their control strategies. In this study, 19 young, healthy participants walked overground at self-selected speeds with six added mass conditions and one zero-added-mass condition. The added mass conditions included +2/+4 lb on each shank or thigh or +8/+16 lb on the pelvis. OpenSim-derived lower-limb sagittal-plane kinematics and kinetics were evaluated statistically with both peak analysis and statistical parametric mapping (SPM). The results showed that adding smaller masses (+2/+8 lb) altered some kinematic and kinetic peaks but did not result in many changes across the regions of the gait cycle identified by SPM. In contrast, adding larger masses (+4/+16 lb) showed significant changes within both the peak and SPM analyses. In general, adding larger masses led to kinematic differences at the ankle and knee during early swing, and at the hip throughout the gait cycle, as well as kinetic differences at the ankle during stance. Future exoskeleton designs may implement these characterizations to inform exoskeleton hardware structure and cooperative control strategies.
39
Kumar, Neelesh, Davinder Pal Singh, Dinesh Pankaj, Sanjeev Soni, and Amod Kumar. "Exoskeleton Device for Rehabilitation of Stroke Patients Using SEMG during Isometric Contraction." Advanced Materials Research 403-408 (November 2011): 2033–38. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.2033.
Full textAbstract:
Robots are becoming more interactive and assisting to human beings day by day. They are serving humanity in the fields of industry, defense and medicine. Exoskeletons are also devices that reside in category of wearable robotics. An exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. Exoskeletons can be used as a capability magnifier or assisting device. This paper presents a proposed design for smart active exoskeleton for lower limbs. This proposed exoskeleton design not only assist a person but also tries to improve its GAIT. The twin wearable legs are powered by Actuators, all controlled by a microprocessor. The simulation results of the control mechanism shows its smart capabilities. In addition, the processor based control produces a more natural muscle like activity and as such can be considered a soft and bio-mimetic actuation system. This capacity to “replicate” the function of natural muscle and inherent safety is extremely important when working in close proximity to humans. The integration of the components sections and testing of the performance will also be considered to show how the structure and actuators can be combined to produce the various systems needed for a highly flexible/low weight clinically viable rehabilitation exoskeleton.
40
Şahin, Yusuf, Fatih Mehmet Botsalı, Mete Kalyoncu, Mustafa Tinkir, Ümit Önen, Nihat Yılmaz, Ömer Kaan Baykan, and Abdullah Çakan. "Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human." Applied Mechanics and Materials 598 (July 2014): 546–50. http://dx.doi.org/10.4028/www.scientific.net/amm.598.546.
Full textAbstract:
Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.
41
WALSH, CONOR JAMES, KEN ENDO, and HUGH HERR. "A QUASI-PASSIVE LEG EXOSKELETON FOR LOAD-CARRYING AUGMENTATION." International Journal of Humanoid Robotics 04, no. 03 (September 2007): 487–506. http://dx.doi.org/10.1142/s0219843607001126.
Full textAbstract:
A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variable-damper. Without a payload, the exoskeleton weighs 11.7 kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive exoskeleton transfers on average 80% of the load to the ground during the single support phase of walking. By measuring the rate of oxygen consumption on a study participant walking at a self-selected speed, we find that the exoskeleton slightly increases the walking metabolic cost of transport (COT) as compared to a standard loaded backpack (10% increase). However, a similar exoskeleton without joint springs or damping control (zero-impedance exoskeleton) is found to increase COT by 23% compared to the loaded backpack, highlighting the benefits of passive and quasi-passive joint mechanisms in the design of efficient, low-mass leg exoskeletons.
42
Hoľvová, Patrícia. "Analysis of Design Today Exoskeletons in the Health Field." Applied Mechanics and Materials 613 (August 2014): 320–24. http://dx.doi.org/10.4028/www.scientific.net/amm.613.320.
Full textAbstract:
Article deals with the analysis of design exoskeleton for people with disabilities, in order to analyze significant events that are currently crucial in the creation or modification of various visual styles in design. The exoskeleton is carryable robotic device connected to the human body. Its design and of course its functionality modified and improved in time. Aesthetics of exoskeletons was influenced by on which elements they are based in designing - the predominance of a particular element decides how it is eventually perceived. An important part of creating ideas is to establish criteria that will set the direction and certain limits. The objective is also to find the most important connectins of shape, color and material features that make up a coherent design.
43
Li, Xin, Weihao Li, and Qiang Li. "Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ." Applied Bionics and Biomechanics 2021 (May 25, 2021): 1–12. http://dx.doi.org/10.1155/2021/5513013.
Full textAbstract:
Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.
44
Rosenberg, Michael C., Bora S. Banjanin, Samuel A. Burden, and Katherine M. Steele. "Predicting walking response to ankle exoskeletons using data-driven models." Journal of The Royal Society Interface 17, no. 171 (October 2020): 20200487. http://dx.doi.org/10.1098/rsif.2020.0487.
Full textAbstract:
Despite recent innovations in exoskeleton design and control, predicting subject-specific impacts of exoskeletons on gait remains challenging. We evaluated the ability of three classes of subject-specific phase-varying (PV) models to predict kinematic and myoelectric responses to ankle exoskeletons during walking, without requiring prior knowledge of specific user characteristics. Each model—PV, linear PV (LPV) and nonlinear PV (NPV)—leveraged Floquet theory to predict deviations from a nominal gait cycle due to exoskeleton torque, though the models differed in complexity and expected prediction accuracy. For 12 unimpaired adults walking with bilateral passive ankle exoskeletons, we predicted kinematics and muscle activity in response to three exoskeleton torque conditions. The LPV model's predictions were more accurate than the PV model when predicting less than 12.5% of a stride in the future and explained 49–70% of the variance in hip, knee and ankle kinematic responses to torque. The LPV model also predicted kinematic responses with similar accuracy to the more-complex NPV model. Myoelectric responses were challenging to predict with all models, explaining at most 10% of the variance in responses. This work highlights the potential of data-driven PV models to predict complex subject-specific responses to ankle exoskeletons and inform device design and control.
45
Farris, Dominic James, and Gregory S. Sawicki. "Linking the mechanics and energetics of hopping with elastic ankle exoskeletons." Journal of Applied Physiology 113, no. 12 (December 15, 2012): 1862–72. http://dx.doi.org/10.1152/japplphysiol.00802.2012.
Full textAbstract:
The springlike mechanics of the human leg during bouncing gaits has inspired the design of passive assistive devices that use springs to aid locomotion. The purpose of this study was to test whether a passive spring-loaded ankle exoskeleton could reduce the mechanical and energetic demands of bilateral hopping on the musculoskeletal system. Joint level kinematics and kinetics were collected with electromyographic and metabolic energy consumption data for seven participants hopping at four frequencies (2.2, 2.5, 2.8, and 3.2 Hz). Hopping was performed without an exoskeleton; with an springless exoskeleton; and with a spring-loaded exoskeleton. Spring-loaded ankle exoskeletons reduced plantar flexor muscle activity and the biological contribution to ankle joint moment (15–25%) and average positive power (20–40%). They also facilitated reductions in metabolic power (15–20%) across frequencies from 2.2 to 2.8 Hz compared with hopping with a springless exoskeleton. Reductions in metabolic power compared with hopping with no exoskeleton were restricted to hopping at 2.5 Hz only (12%). These results highlighted the importance of reducing the rate of muscular force production and work to achieve metabolic reductions. They also highlighted the importance of assisting muscles acting at the knee joint. Exoskeleton designs may need to be tuned to optimize exoskeleton mass, spring stiffness, and spring slack length to achieve greater metabolic reductions.
46
Thøgersen, Mikkel Berg, Mostafa Mohammadi, Muhammad Ahsan Gull, Stefan Hein Bengtson, Frederik Victor Kobbelgaard, Bo Bentsen, Benjamin Yamin Ali Khan, et al. "User Based Development and Test of the EXOTIC Exoskeleton: Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control." Sensors 22, no. 18 (September 13, 2022): 6919. http://dx.doi.org/10.3390/s22186919.
Full textAbstract:
This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application. The EXOTIC features: (1) a compact, safe, wheelchair-mountable, easy to don and doff exoskeleton capable of facilitating multiple highly desired activities of daily living for individuals with tetraplegia; (2) a semi-automated computer vision guidance system that can be enabled by the user when relevant; (3) a tongue control interface allowing for full, volitional, and continuous control over all possible motions of the exoskeleton. The EXOTIC was tested on ten able-bodied individuals and three users with tetraplegia caused by spinal cord injury. During the tests the EXOTIC succeeded in fully assisting tasks such as drinking and picking up snacks, even for users with complete functional tetraplegia and the need for a ventilator. The users confirmed the usability of the EXOTIC.
47
Bogue, Robert. "Robotic exoskeletons: a review of recent progress." Industrial Robot: An International Journal 42, no. 1 (January 19, 2015): 5–10. http://dx.doi.org/10.1108/ir-08-2014-0379.
Full textAbstract:
Purpose – This article aims to provide details of recent robotic exoskeleton developments and applications. Design/methodology/approach – Following an introduction, this article first considers some of the technological issues associated with an exoskeleton design. It then discusses military developments, industrial load-carrying applications and uses in healthcare. Progress in thought-controlled exoskeletons is discussed briefly, and finally, concluding comments are drawn. Findings – This article shows that, while military interests continue, the dominant application is to restore or enhance mobility to individuals suffering from disabilities or injuries. An emerging use is to increase the strength and endurance of industrial workers. The majority are lower-limb devices, although some full-body exoskeletons have been developed, and most rely on battery-powered electric motors to create motion. Reflecting the anticipated growth in applications, exoskeletons are now available from, or under development by, a growing number of commercial organisations. Originality/value – This provides an insight into the latest developments in robotic exoskeletons and their applications.
48
Nazari, Vaheh, Majid Pouladian, Yong-Ping Zheng, and Monzurul Alam. "A Compact and Lightweight Rehabilitative Exoskeleton to Restore Grasping Functions for People with Hand Paralysis." Sensors 21, no. 20 (October 18, 2021): 6900. http://dx.doi.org/10.3390/s21206900.
Full textAbstract:
Millions of individuals suffer from upper extremity paralysis caused by neurological disorders including stroke, traumatic brain injury, or spinal cord injury. Robotic hand exoskeletons can substitute the missing motor control and help restore the functions in daily operations. However, most of the hand exoskeletons are bulky, stationary, and cumbersome to use. We have modified a recent existing design (Tenoexo) to prototype a motorized, lightweight, fully wearable rehabilitative hand exoskeleton by combining rigid parts with a soft mechanism capable of producing various grasps needed for the execution of daily tasks. Mechanical evaluation of our exoskeleton showed that it can produce fingertip force up to 8 N and can cover 91.5° of range of motion in just 3 s. We further tested the performance of the developed robotic exoskeleton in two quadriplegics with chronic hand paralysis and observed immediate success on independent grasping of different daily objects. The results suggested that our exoskeleton is a viable option for hand function assistance, allowing patients to regain lost finger control for everyday activities.
49
Bianco, Nicholas A., Patrick W. Franks, Jennifer L. Hicks, and Scott L. Delp. "Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study." PLOS ONE 17, no. 1 (January 5, 2022): e0261318. http://dx.doi.org/10.1371/journal.pone.0261318.
Full textAbstract:
Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and total metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices–whether independent or coupled–provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.
50
Goo, Anthony, Curt A. Laubscher, Ryan J. Farris, and Jerzy T. Sawicki. "Design and Evaluation of a Pediatric Lower-Limb Exoskeleton Joint Actuator." Actuators 9, no. 4 (December 11, 2020): 138. http://dx.doi.org/10.3390/act9040138.
Full textAbstract:
Lower-limb exoskeletons have undergone significant developments for aiding in the ambulation of adults with gait impairment. However, advancements in exoskeletons for the pediatric population have comparatively been lacking. This paper presents a newly developed joint actuator designed to drive the hip and knee joints of a pediatric lower-limb exoskeleton. The performance requirements associated with the actuators were determined based on a target audience of children ages 6–11 years old. The developed actuators incorporate a hybrid belt-chain transmission driven by a frameless brushless DC motor. One actuator underwent benchtop testing to evaluate its performance with respect to their torque production, bandwidth properties, backdrivability in terms of inertia and friction characteristics, speed capabilities, and operational noise levels. As a preliminary validation, a set of actuators were placed in a prototype orthosis to move a pediatric test dummy in gait tracking via state-feedback control. The results showed that the newly developed actuators meet the design specifications and are suitable for use in the pediatric exoskeleton being developed.