Relevant bibliographies by topics / Exoskelett

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Exoskelett'

Author: Grafiati
Published: 4 June 2021
Last updated: 9 February 2022

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Journal articles on the topic "Exoskelett"

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Dahmen, C., and C. Constantinescu. "Exoskelette in der Produktion*/Exoskeletons in Production. Characteristics of Passive Exoskeletons for Digital Planning in Production." wt Werkstattstechnik online 108, no. 06 (2018): 393–96. http://dx.doi.org/10.37544/1436-4980-2018-06-19.

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Inhalt dieses Beitrages ist die Umsetzung einer modularen Sensorplattform zur Charakterisierung und Inline-Auswertung von passiven Exoskeletten. Sowohl bei der ergonomischen Bewertung mit Schnellverfahren, als auch bei der Exoskelett-Integration in Simulationssysteme zur ganzheitlichen Betrachtung, sind die Einflüsse und Körperreaktionskräfte elementar. Durch einen generischen und abstrakten Ansatz wird eine vereinfachte Methode geschaffen, Exoskelette und deren Eigenschaften zu beschreiben.   Content of this article is the implementation of a modular sensor platform for the characterization of passive exoskeletons. For ergonomic assessment with fast methods, as well for the integration in holistic simulation systems, there is a need to consider all body-exoskeleton reaction forces. This generic and abstract approach is a new method to describe and implement the characteristics of passive exoskeletons.
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Wortmann, Martin. "Kasse muss Exoskelett bezahlen." Orthopädie & Rheuma 19, no. 5 (October 2016): 10. http://dx.doi.org/10.1007/s15002-016-0976-3.

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Soekadar, Surjo R., and Marius Nann. "Hand-Exoskelett – Endlich wieder greifen!" ergopraxis 11, no. 01 (January 2018): 38–40. http://dx.doi.org/10.1055/s-0043-120132.

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Selbstständig Kartoff elchips essen oder eine Tasse Kaff ee trinken. Solche Aufgaben sind für Menschen mit Hand- und Fingerlähmungen oftmals eine riesige Hürde – oder ein unüberwindbares Problem. Ein internationales Forscherteam entwickelte ein neuralgesteuertes Hand-Exoskelett, welches Signale vom Gehirn überträgt und selbst feinste Fingerbewegungen ermöglicht.
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Hessinger, Markus, Eike Christmann, Roland Werthschützky, and Mario Kupnik. "Messung von Nutzerinteraktion mit einem Exoskelett durch EMG und Gelenk-Drehmomente." tm - Technisches Messen 85, no. 7-8 (July 26, 2018): 487–95. http://dx.doi.org/10.1515/teme-2017-0133.

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Zusammenfassung Die Bestimmung der Bewegungsintention stellt eine Herausforderung in der Mensch-Roboter-Kooperation dar, um einen sicher und intuitvive Bedienung zu ermöglichen. Hierzu werden zwei Messprinzipen zur Nutzerintentionserkennung mit einem Oberarm-Exoskelett untersucht. Für die Antriebsachsen wird ein strukturintegrierter Drehmomentsensor entworfen und über ein dynamisches Modell unter Berücksichtigung der Schwerkraft, Trägheit und Reibung des Exoskelettes das Nutzermoment bestimmt. Das gemessene Drehmoment wird mit EMG-Signalen der beteiligten Muskeln der Schulter verglichen. Aus Probandenmessungen ist eine Verzögerung des mechanischen Drehmomentes hinter der elektrischen Muskelaktivierung von maximal 80 ms und ein linearer Zusammenhang zwischen Drehmoment und EMG Signal zu erkennen.
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Zok, C. "Eine Perspektive für Rückenmarkverletzte: Das Exoskelett." DMW - Deutsche Medizinische Wochenschrift 139, no. 47 (November 12, 2014): 2379. http://dx.doi.org/10.1055/s-0034-1374725.

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Kuhn, D., and B. Freyberg-Hanl. "Exoskelett: Therapiesystem oder Hilfsmittel zum Behinderungsausgleich." Trauma und Berufskrankheit 20, S4 (August 15, 2018): 254–59. http://dx.doi.org/10.1007/s10039-018-0394-7.

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Hartwich, B., and J. Haas. "Hochflexibles Exoskelett verbessert Arbeitsbedingungen in der Fertigung." Technische Sicherheit 9, no. 04 (2019): 44–45. http://dx.doi.org/10.37544/2191-0073-2019-04-44.

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Das Exoskelett Chairless Chair ermöglicht Mitarbeitern an der Fertigungslinie, ohne Arbeitsplatzveränderung ergonomisch, bequem und produktiv zu arbeiten. Die Vorteile der neuen Generation des Chairless Chair 2.0 liegen insbesondere in einer deutlichen Gewichtsreduktion, einer erheblichen Erweiterung der Größenanpassung, einem neuen Design und einer Verbesserung der Schuhhalterungen. Vorgestellt wird der neue Chairless Chair 2.0 am 1. April 2019 auf der Hannover Messe.
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Hoffmann, Niclas, Lennart Ralfs, and Robert Weidner. "Leitmerkmale und Vorgehen einer Implementierung von Exoskeletten." Zeitschrift für wirtschaftlichen Fabrikbetrieb 116, no. 7-8 (August 1, 2021): 525–28. http://dx.doi.org/10.1515/zwf-2021-0099.

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Abstract Physische Unterstützungssysteme wie Exoskelette gewinnen zunehmend an Bedeutung für Industriearbeitsplätze. Dieser Beitrag stellt diesbezüglich eine Vorgehensweise für AnwenderInnen vor, der eine Verwendung von Leitmerkmalen für Unterstützungssituationen zur Ermittlung der Eignung von Exoskeletten nutzt. Beschrieben wird eine nutzerzentrierte Herangehensweise für den Implementierungsprozess von Exoskeletten, welche eine kritische Reflexion über die Eignung eines Exoskeletts auf Basis von Leitmerkmalen fördern soll.
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Kucera, Martin. "Exoskelett Für Neurochirurgen: Mehr Präzision bei langen OPs." kma - Klinik Management aktuell 26, no. 01/02 (February 2021): 82–84. http://dx.doi.org/10.1055/s-0041-1724202.

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Die negativen Folgen von Haltungsschäden für Chirurgen während langer OPs sind vielfältig. Seit Frühjahr 2020 testen Neurochirurgen der Uniklinik Tübingen und der Universitätsmedizin Göttingen ein spezielles Exoskelett, um sie zu vermeiden. Die Erfahrungen sind vielversprechend.
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Nann, Marius, and Surjo R. Soekadar. "Hand-Exoskelette – Den Traum vom Greifen erfüllen." physiopraxis 16, no. 03 (March 2018): 50–52. http://dx.doi.org/10.1055/s-0043-121842.

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Selbstständig Kartoffelchips essen oder eine Tasse Kaffee trinken. Solche Aufgaben sind für Menschen mit Hand- und Fingerlähmungen meist eine große Hürde oder gar unmöglich. Das könnte sich bald ändern. Ein internationales Forscherteam entwickelte ein neuralgesteuertes Hand-Exoskelett, das Signale vom Gehirn überträgt und selbst feinste Fingerbewegungen ermöglicht.
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Dissertations / Theses on the topic "Exoskelett"

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Begovic, Nino. "Rehabilitering av arm och handfunktion efter stroke med hjärndatorgränssnittstyrda exoskelett : En explorativ litteraturöversikt." Thesis, Luleå tekniska universitet, Institutionen för hälsovetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79068.

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Bakgrund: Stroke drabbar miljontals människor världen över varje år och medför ofta ensidiga motoriska nedsättningar som allvarligt reducerar förmågan till självständighet i vardagen. Fysioterapin efter stroke sker därför vanligen genom uppgiftsorienterad träning riktad mot att rehabilitera den motoriska förmågan på den affekterade sidan så att patienten kan återgå till ett självständigt liv. Men processen ställer stora krav på patienten som inte alltid kan förväntas uppnå bästa resultat med sin rehabilitering. Därför forskas det alltmer på innovativa teknologiska hjälpmedel med potential att assistera strokepatient såväl som fysioterapeut i rehabiliteringen. Exoskelett och hjärndatorgränssnitt (BCI) är två sådana hjälpmedel som undersöktes i denna studie. Syfte: Studien hade syftet att sammanställa det vetenskapliga stödet för tillämpning av BCI-styrda exoskelett (BCI-Exo) vid rehabilitering av motorisk arm- och handfunktion efter stroke i dess subakuta samt kroniska fas. Metod: Litteratursökningar utfördes i databaserna PEDRO, PUBMED, AMED och CINAHL vilket gav 22 träffar som efter granskning och sållning resulterade i att fyra artiklar inkluderades i studien. Resultat: Samtliga studier redovisade statistiskt signifikanta förbättringar av motorisk handfunktion i interventionsgruppen jämfört med kontrollgruppen utifrån de utfallsmått som tillämpades. Konklusion: Resultatet indikerade att BCI-Exo kan främja återhämtning och neuroplasticitet för strokepatienter oavsett vilken fas de infinner sig i. Dock är teknologin fortfarande relativt ny varvid fler studier behöver utföras för att bättre specificera och förstå för- och nackdelar jämfört med konventionella behandlingsmetoder.
Background: Stroke affects millions of people around the world each year and often results in unilateral motor impairments that severely reduce the ability for independence in everyday life. Physiotherapy after stroke is therefore usually performed through task-oriented training aimed at rehabilitating the motor functional ability of the affected side so that the patient can return to an independent life. But the process places great demands on the patient who cannot always be expected to achieve the best results from their rehabilitation. Therefore, innovative technologies are increasingly being researched with the potential to assist stroke patients as well as physical therapists in the rehabilitation process. Exoskeletons and brain-computer interfaces (BCI) are two such rehabilitative tools that were investigated in this study. Objective: The study aimed to compile the scientific support for the use of BCI-controlled exoskeletons (BCI-Exo) in motor functional arm and hand rehabilitation after stroke in its subacute and chronic phase. Method: Literature searches were conducted in the databases PEDRO, PUBMED, AMED and CINAHL, which resulted in 22 hits which, after review and screening, resulted in four articles being included in the study. Results: All studies reported statistically significant improvements regarding motor function in the hemiplegic hand in the intervention group compared to the control group based on the outcome measures used. Conclusion: The results indicated that BCI-Exo can promote recovery and neuroplasticity after stroke regardless of its phase. However, the technology is still in its early stages and more studies need to be performed to better specify and understand the advantages and disadvantages compared to conventional treatment methods.
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Arvidsson, Sofie, and Carlsson Matilda Witwicki. "Exoskelett som hjälpmedel inom rehabilitering för personer med fysiska funktionsnedsättningar." Thesis, Örebro universitet, Hälsoakademin, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-15677.

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Bakgrund: Exoskeletten uppfanns för användning inom militären, men forskning och utveckling av den här robottekniken har öppnat en möjlighet även till användning i rehabiliteringssyfte. Syfte: Att beskriva exoskelett för övre extremitet, ändamålet till vilket dessa används inom rehabilitering för personer med fysiska funktionsnedsättningar, samt värdet av att använda dem. Metod: Systematisk litteraturstudie. De databaser som användes var Amed, Cinahl och Medline. Genom en kombination av olika sökord resulterade sökningen i 11 artiklar som inkluderades i studien. Resultat: Åtta olika exoskelett togs med i uppsatsen. Ändamålet med de flesta exoskeletten var i huvudsak att assistera terapeuten i träning av hand och arm medan ett exoskelett användes i studier som handlade om att underlätta för användaren vid dennes ADL-utförande. Användningen av exoskeletten visade en övergripande förbättrad förmåga i bland annat motorik, rörelseomfång, muskelstyrka, reducering av tremor och i utförandet av dagliga aktiviteter. De flesta studier som handlar om exoskelett är förstudier inför större, kliniska studier. Slutsats: Att använda sig av exoskelett är en potentiell och effektiv rehabiliteringsmetod som ger möjlighet till större självständighet hos individerna. Viss utveckling krävs för ökad bekvämlighet och alla exoskelett är under vidareutveckling. Kvaliteten på materialet är medelmåttligt, varvid resultatet bör läsas med viss förbehållsamhet.
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Hessinger, Markus [Verfasser], Roland [Akademischer Betreuer] Werthschützky, and Mario [Akademischer Betreuer] Kupnik. "Mensch-Exoskelett-Kollaboration auf Basis Strukturintegrierter Sensoren / Markus Hessinger ; Roland Werthschützky, Mario Kupnik." Darmstadt : Universitäts- und Landesbibliothek, 2021. http://d-nb.info/1236694619/34.

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Argubi-Wollesen, Andreas [Verfasser]. "Entwicklung und biomechanische Evaluation eines körpergetragenen Unterstützungssystems (Exoskelett) für Arbeiten in und über Kopfhöhe / Andreas Argubi-Wollesen." Hamburg : Staats- und Universitätsbibliothek Hamburg Carl von Ossietzky, 2021. http://d-nb.info/1240386400/34.

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Linder-Aronson, Philip, and Simon Stenberg. "Exo-Controlled Biomimetic Robotic Hand : A design solution for control of a robotic hand with an exoskeleton." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295846.

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Robotic arms and hands come in all shapes and sizes, they can be general purpose or task-specific. They can be pre-programed by a computer or controlled by a human operator. There is a certain subsection of robotic hands which try to mimic the shape, movement and function of the human hand, these are sometimes known as biomimetic robotics. This project explores the human robot interaction by creating an anthropomorphic robotic hand with an accompanying exoskeleton. The hand, which consists of a 3D-printed body and fingers, is connected to a forearm where the servos that control the fingers are housed. The exoskeleton connects to the operator's hand allowing finger tracking through a set of potentiometers. This setup allows the operator to intuitively control a robotic hand with a certain degree of precision. We set out to answer research questions in regard to the form and function of a biomimetic hand and the exoskeleton. Along the way, a multitude of problems were encountered such as budgetary issues resulting in only half the fingers having movement. Despite this, good results were gathered from the functioning fingers and our research questions were answered.
Robotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal forskningsfrågor med avseende på form och funktion av en biomimetisk hand och exoskelettet. Under projektets gång påträffades en mängd problem såsom budgetproblem som resulterade i att bara hälften av fingrarna kan kontrolleras. Trots detta fick vi bra resultat från de fungerande fingrarna och våra forskningsfrågor kunde besvaras.
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Dyberg, Malin, and Ahlbäck Elvira Troillet. "P.E.G.A.S : Powered Exoskeleton Grip Amplifying System." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295802.

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In this bachelor’s thesis, the development and construction of a soft exoskeleton for a human hand is described.The purpose of the project includes evaluating what type of exoskeleton that is most suitable for aiding the user inactivities of daily living and how this exoskeleton can be constructed in order to increase grip strength in the human hand. In addition, the prototype should be portable and not inflict any harm on the user. The necessary theoretical research is thoroughly conducted followed by the construction of the final prototype. The purpose of the project is achieved, resulting in a flexible, portable and safe exoskeleton which with satisfaction can aid the user in its activities of daily living. However, this prototype is limited to exclusively include the thumb and index finger, and in further work the prototype can be developed to include all five fingers of the human hand.
I detta kandidatexamensarbete behandlas utvecklingen och konstruktionen av ett mjukt exoskelett för den mänskliga handen. Syftet med projektet är att undersöka vilken typ av exoskelett som passar bäst för att hjälpa användaren med aktiviteter i det dagliga livet, samt hur detta exoskelett kan konstrueras för att förstärka greppet i handen. Prototypen ska även vara bärbar och inte skada användaren. Den nödvändiga teorin presenteras, följt av konstruktionen av den slutgiltiga prototypen. Syftet med projektet uppfylls och resulterar i ett flexibelt, portabelt och säkert exoskelett som kan hjälpa användaren med aktiviteter i det dagligalivet. Dock är denna prototyp begränsad till att endast inkludera styrning av tummen och pekfingret, och prototypenkan således i framtida arbeten utvecklas till att inkludera samtliga fem fingrar på den mänskliga handen.
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Luhmann, Ole. "Development of a Novel Hand Exoskeleton for the Rehabilitation and Assistance of Upper Motor Neuron Syndrome Patients." Thesis, KTH, Maskinkonstruktion (Inst.), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281248.

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Hand exoskeletons are wearable robotic devices which are used to compensate for impaired handmovements in patientswith impaired upper-limbs. These devices can either help patients to grasp objects for a therapeutic purpose or to performactivities of daily living. This Thesis describes the development of a novel hand exoskeleton, with a focus on the user, based on the product development methodology "the V-Model". Therefore, user needs are identified through interviews and a thorough literature review. Three potential concepts are developed and sub-sequential a concept is selected based on a logical decision process. A mathematical model of the selected concept is generated and then used for dimensioning the hand exoskeleton. Moreover, three variants of the hand exoskeleton are built as prototypes. Finally, the variants of the device are tested on a bench top. The result of the development process is a novel hand exoskeleton for the rehabilitation of upper motor neuron syndrome patients. Force and range of motion tests revealed, that a design with a higher level of underactuation is favourable. The design presented in this thesis does not reach the defined range of motion and force augmentation. However, the defined target values are the results of a conservative approach, thus are a challenge to reach. The augmented closing force and range of motion surpass other state of the art hand exoskeletons. Nevertheless, the augmented opening force under-performs in comparison with other designs. Decisively, a validation with users is needed for a usability assessment.
Exoskelett för händer är robotiska hjälpmedel som kan användas för att kompensera nedsatt muskelstyrka och rörlighet hos patienter med nedsatt muskelfunktion i armarna. Dessa hjälpmedel kan hjälpa patienter att greppa föremål i ett terapeutiskt syfte eller för att utföra vardagliga sysslor. Examensarbetet beskriver utvecklingsarbetet av ett nytt exoskelett med fokus på användaren genom att tillämpa produktutvecklingsmotodikens V-modell. Användarens krav och behov identifieras genom intervjuer och en gedigen litteraturstudie. Tre koncept utvecklas och ett vidareutvecklat koncept väljs slutligen baserat på en logisk beslutsprocess. En matematisk modell genereras och används för att dimensionera exoskelettet. Dessutom tillverkas tre prototyper av exoskelettet i olika utföranden för att slutligen utvärderas i en testrigg. Resultatet av utvecklingsprocessen är ett nytt handexoskelett ämnat för rehabilitering av patienter med övre motorneuronsjukdom. Tester som genomfördes för att mäta Kraft och rörlighet visade att en design med en högre grad av underaktuering är gynnsamt. Designen som presenteras här når inte upp till de krav som ställs på kraft och rörlighet, de målvärden som definieras är dock baserade på ett konservativt synsätt och är därmed svåra att uppnå. Exoskelettet producerar en högre stängningskraft och uppvisar bättre rörlighet än andra toppmoderna exoskelett. Exoskelettet underpresterar dock vad gäller den producerade öppningskraften jämfört med andra modeller och designen behöver valideras hos användarna för att användarbarheten ska kunna bestämmas.
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Gulkin, David [Verfasser]. "Prospektiv randomisierte Studie zur Nachbehandlung von Beugesehnennähten in Zone II an der Hand - Vergleich von klassischer Physiotherapie und Nachbehandlung mit einem Exoskelett / David Gulkin." Ulm : Universität Ulm, 2017. http://d-nb.info/1136956727/34.

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Viennet, Emmanuel, and Loïc Bouchardy. "Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71229.

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The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/- 20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle.
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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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Books on the topic "Exoskelett"

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. Exoskelette in der Intralogistik. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2.

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Cardona, Manuel, Vijender Kumar Solanki, and Cecilia E. García Cena. Exoskeleton Robots for Rehabilitation and Healthcare Devices. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4732-4.

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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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Yang, Zhiyong, Wenjin Gu, Jing Zhang, and Lihua Gui. Force Control Theory and Method of Human Load Carrying Exoskeleton Suit. Berlin, Heidelberg: Springer Berlin Heidelberg, 2017. http://dx.doi.org/10.1007/978-3-662-54144-9.

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Halliwell, Ian. Exoskeletal engine concept: Feasibility studies for medium and small thrust engines [final report]. [Cleveland, Ohio]: National Aeronautics and Space Administration, Glenn Research Center, 2001.

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Halliwell, Ian. Exoskeletal engine concept: Feasibility studies for medium and small thrust engines [final report]. [Cleveland, Ohio]: National Aeronautics and Space Administration, Glenn Research Center, 2001.

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Blau, S. Forrest. Commercial catch sampling and estimated harvest by sizes and exoskeletal ages of red king crabs, 1960-86. Juneau, Alaska: Alaska Department of Fish and Game, Division of Commercial Fisheries, 1988.

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Lewis, Gregory. Exoskeleton. Dorrance Pub Co, 2000.

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Stadler, Shane. Exoskeleton: A Novel. Brand: Dark Hall Press, 2012.

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The Comeback's Exoskeleton. UpSet Press, Inc., 2008.

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Book chapters on the topic "Exoskelett"

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Auffan, Mélanie, Catherine Santaella, Alain Thiéry, Christine Paillès, Jérôme Rose, Wafa Achouak, Antoine Thill, et al. "Exoskeleton." In Encyclopedia of Nanotechnology, 803. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-90-481-9751-4_100236.

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Dunford, James C., Louis A. Somma, David Serrano, C. Roxanne Rutledge, John L. Capinera, Guy Smagghe, Eli Shaaya, et al. "Exoskeleton." In Encyclopedia of Entomology, 1380. Dordrecht: Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-6359-6_3717.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Einleitung." In Exoskelette in der Intralogistik, 1–7. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_1.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Design und Entwicklung." In Exoskelette in der Intralogistik, 19–40. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_6.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Kommunikation." In Exoskelette in der Intralogistik, 63–65. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_8.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Demonstration und Evaluation." In Exoskelette in der Intralogistik, 41–62. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_7.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Forschungsmethodik." In Exoskelette in der Intralogistik, 13–14. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_3.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Definition der Ziele." In Exoskelette in der Intralogistik, 17. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_5.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Stand der Forschung und Forschungslücke." In Exoskelette in der Intralogistik, 9–11. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_2.

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Kaupe, Victor, Carsten Feldmann, and Martin Lucas. "Problemidentifikation und Motivation." In Exoskelette in der Intralogistik, 15. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-32346-2_4.

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Conference papers on the topic "Exoskelett"

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Kong, Kyoungchul, and Doyoung Jeon. "Design and Control of a New Tendon-Driven Exoskeletal Lower Body Power Assistive Device." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-80800.

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Recently the exoskeletal power assistive equipment which is a kind of wearable robot has been widely developed to help the human body motion. For the elderly people and patients, however, some limits exist due to the weight and volume of the equipments. As a feasible solution, a tendon-driven exoskeletal power assistive device for the lower body, and caster walker are proposed in this research. Since the caster walker carries the heavy items, the weight and volume of the wearable exoskeleton are minimized. The fuzzy control is used to generate the joint torque required to assist motions such as sitting, standing and walking. Experiments were performed for several motions and the EMG sensors were used to measure the magnitude of assistance. When the motion of sitting down and standing up was compared with and without wearing the proposed device, the 27% assistance was acquired.
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Hunt, Justin, Panagiotis Artemiadis, and Hyunglae Lee. "Development of a Novel Shoulder Exoskeleton Using Parallel Actuation and Slip." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9894.

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This paper presents a 5 degree-of-freedom (DoF) low inertia shoulder exoskeleton that was developed using two novel technologies with a broad range of application. The first novelty is a 3-DoF spherical parallel manipulator (SPM) that uses three linear actuators. Each actuator is designed using a method of motion coupling such that the pitch and linear stroke DoF are dependent. By using an SPM, this shoulder exoskeleton takes advantage of the inherent low effective inertia property of parallel architecture. The second novelty is a 2-DoF passive slip mechanism that couples the user’s upper arm to the SPM. This slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user’s glenohumeral joint from introducing mechanical interference that could affect the device’s kinematic solution or harm the user. An experiment to validate the kinematics of the SPM was performed using motion capture. A computational slip model was created to quantify the slip mechanism’s response for different conditions of joint misalignment. In addition to offering a low inertia solution for the rehabilitation or augmentation of the human shoulder, the presented device demonstrates the technologies of actuator motion coupling and passive slip for use in exoskeletal systems. The use of motion coupling could be applied to other types of parallel actuated architectures in order to constrain the kinematics or improve stiffness characteristics. Passive slip mechanisms could have application in either serial or parallel actuated systems as a means of negating the adverse effects of joint misalignment.
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Patel, Harsh, Wing Kin Chung, Vimal Viswanathan, and Sohail Zaidi. "Design and Testing of a Physical Therapy Device Controlled With Voice Commands." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23887.

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Abstract The world population is aging. Age-related disorders such as stroke and spinal cord injury are increasing rapidly, and such patients often suffer from mobility impairments. Wearable robotic exoskeletons are developed that serve as rehabilitation devices for these patients. An assistive knee brace is a simple wearable exoskeleton which is used to help people with mobility issues. This device provides partial assistance to the user and also helps in providing locomotion. Many exoskeletons are currently available in the market that have different functions and use. It is believed that, to date, no voice-controlled knee brace exists in an orthotic application, and that this project debuts a unique approach. This project presents the design of an assistive bionic knee joint with a motor-based actuator. The new exoskeletal mechanism uses the serial elastic actuator concept and mainly consists of a stepper motor, a ball screw, a set of spur gears, and a set of linear springs. The ball screw provides a linear movement to mimic the stretching and retracting action of a human knee. To create a proof-of-concept of the design, 3D printing is used. A voice recognition system has been developed in-house to control the exoskeleton using very simple voice commands. The motor is controlled using a motor driver and powered using an external power source. The 3D printed prototype with integrated voice-control module is tested for its essential functions. The test setup is loaded on the leg of a mannequin and tested under both no-load and full-load operation. The concept is proven to be successful in providing assistance to the human knee. However, the 3D printed material is observed to be bending, causing disruptions in the device’s operation. The reaction times are expected to be significantly larger compared to the theoretically calculated values.
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Bosscher, Paul, and Eric LaFay. "Haptic Cobot Exoskeleton: Concepts and Mechanism Design." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99420.

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This paper presents a concept for a new type of haptic exoskeleton: REACH, the Robotic Exoskeleton with Advanced Cobot Haptics. This exoskeleton is the first ever concept for integrating cobot technology into a wearable exoskeleton device. This exoskeleton represents a significant improvement in haptic exoskeleton technology by providing high-performance haptic feedback to a user’s whole arm while at the same time guaranteeing the user’s safety. The overall design concept is presented, including the use of a spherical 3RRR parallel mechanism to implement the shoulder joint. The detailed design of the shoulder joint mechanism is then presented. The kinematic parameters of the shoulder joint are selected such that its range of motion matches the motion of a user’s shoulder while also avoiding collisions. In addition, to avoid singularities and maximize dexterity the mechanism design is optimized using the inverse condition number of the Jacobian matrix.
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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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Jha, Pooja, Kinjal Savla, and Dishant Shah. "Exoskeleton Arm." In 2018 International Conference on Smart City and Emerging Technology (ICSCET). IEEE, 2018. http://dx.doi.org/10.1109/icscet.2018.8537273.

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Agrawal, Sunil K., Venketesh N. Dubey, John J. Gangloff, Elizabeth Brackbill, and Vivek Sangwan. "Optimization and Design of a Cable Driven Upper Arm Exoskeleton." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86516.

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This paper presents the design of a wearable upper arm exoskeleton that can be used to assist and train arm movements of stroke survivors or subjects with weak musculature. In the last ten years, a number of upper-arm training devices have emerged. However, due to their size and weight, their use is restricted to clinics and research laboratories. Our proposed wearable exoskeleton builds upon our extensive research experience in wire driven manipulators and design of rehabilitative systems. The exoskeleton consists of three main parts: (i) an inverted U-shaped cuff that rests on the shoulder, (ii) a cuff on the upper arm, and (iii) a cuff on the forearm. Six motors, mounted on the shoulder cuff, drive the cuffs on the upper arm and forearm, using cables. In order to assess the performance of this exoskeleton, prior to use on humans, a laboratory test-bed has been developed where this exoskeleton is mounted on a model skeleton, instrumented with sensors to measure joint angles and transmitted forces to the shoulder. This paper describes design details of the exoskeleton and addresses the key issue of parameter optimization to achieve useful workspace based on kinematic and kinetic models.
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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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Chauhan, Raghuraj J., and Pinhas Ben-Tzvi. "A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-8996.

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Abstract This paper presents the design of a series elastic actuator and a higher level controller for said actuator to assist the motion of a user’s hand in a linkage based hand exoskeleton. While recent trends in the development of exoskeleton gloves has been to exploit the advantages of soft actuators, their size and power requirements limit their adoption. On the other hand, a series elastic actuator can provide compliant assistance to the wearer while remaining compact and lightweight. Furthermore, the linkage based mechanism integrated with the SEA offers repeatability and accuracy to the hand exoskeleton. By measuring the user’s motion intention through compression of the elastic elements in the actuator, a virtual dynamic system can be utilized that assists the users in performing the desired motion while ensuring the motion stability of the overall system. This work describes the detailed design of the actuator followed by performance tests using a simple PD controller on the integrated robotic exoskeleton prototype. The performance of the proposed high level controller is tested using the integrated exoskeleton glove mechanism for a single finger, using two types of input motion. Preliminary results are discussed as well as plans for integrating the proposed actuator and high level controller into a complete hand exoskeleton prototype to perform intelligent grasping.
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Kazerooni, H. "A Review of the Exoskeleton and Human Augmentation Technology." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2407.

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This paper is written for the plenary talk of 2008 ASME Dynamic Systems and Control Conference in Ann Arbor Michigan and gives an overview of the exoskeleton technology and human augmentation. Human-Robot integration outlines the future of robotics. The technology associated with exoskeleton systems and human power augmentation can be divided into lower extremity exoskeletons and upper extremity exoskeletons. The reason for this was two-fold; firstly, one could envision a great many applications for either a stand-alone lower or upper extremity exoskeleton in the immediate future. Secondly, and more importantly, the reason for the division is that it is unclear if an integrated upper extremity-lower extremity exoskeleton is a scientifically-valid concept in logistical operations (i.e., lifting and carrying heavy objects).
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Reports on the topic "Exoskelett"

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Gorea, Adriana, Jeffrey Mayer, and Todd Conover. Exoskeleton. Ames (Iowa): Iowa State University. Library, January 2019. http://dx.doi.org/10.31274/itaa.8765.

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Hill, Barry O., and David K. Nelson. Force Reflecting Exoskeleton (FREFLEX) Workspace Mapping. Fort Belvoir, VA: Defense Technical Information Center, February 1995. http://dx.doi.org/10.21236/ada313948.

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Jansen, J. F. Phase I Report: DARPA Exoskeleton Program. Office of Scientific and Technical Information (OSTI), January 2004. http://dx.doi.org/10.2172/885609.

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Jansen, J. F. Exoskeleton for Soldier Enhancement Systems Feasibility Study. Office of Scientific and Technical Information (OSTI), September 2000. http://dx.doi.org/10.2172/885757.

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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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Shoureshi, Rahmat A. Development of Advanced Active Haptic System for Musculokelelton-Exoskeleton Interactions. Fort Belvoir, VA: Defense Technical Information Center, August 2005. http://dx.doi.org/10.21236/ada440830.

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Karlsson, Anette M. High Strength and Light-weight Materials Inspired by the Exoskeleton of Arthropods. Fort Belvoir, VA: Defense Technical Information Center, January 2010. http://dx.doi.org/10.21236/ada534870.

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Goldfarb, Michael. A Monopropellant-Powered Actuator for the Development of a Lower Limb Exoskeleton. Fort Belvoir, VA: Defense Technical Information Center, April 2001. http://dx.doi.org/10.21236/ada413914.

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Bostelman, Roger, Ya-Shian Li-Baboud, Karl Van Wyk, and Mili Shah. Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User. National Institute of Standards and Technology, August 2020. http://dx.doi.org/10.6028/nist.tn.2107.

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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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