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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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Martínez, Conde Sergio, and Luque Estela Pérez. "Exoskeleton for hand rehabilitation." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15820.
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This document presents the development of a first proposal prototype of a rehabilitation exoskeleton hand. The idea was to create a lighter, less complex and cheaper exoskeleton than the existing models in the market but efficient enough to carry out rehabilitation therapies.The methodology implemented consists of an initial literature review followed by data collection resulting in a pre-design in two dimensions using two different software packages, MUMSA and WinmecC. First, MUMSA provides the parameters data of the movement of the hand to be done accurately. With these parameters, the mechanisms of each finger are designed using WinmecC. Once the errors were solved and the mechanism was achieved, the 3D model was designed.The final result is presented in two printed 3D models with different materials. The models perform a great accurate level on the motion replica of the fingers by using rotary servos. The properties of the model can change depending on the used material. ABS material gives a flexible prototype, and PLA material does not achieve it. The use of distinct methods to print has a high importance on the difficulties of development throughout the entire process of production. Despite found difficulties in the production, the model was printed successfully, obtaining a compact, strong, lightweight and eco-friendly with the environment prototype.
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Duffus, LuAnn McClernan. "Exoskeleton Requirements for Firefighters." Ohio University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1574688158168652.
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Tims, Jacob (Jacob F. ). "Dynamic exoskeleton : mechanical design of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105664.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (page 12).
An exoskeleton was designed with the primary goal of enhancing the maximum dynamic capability of a human, thus allowing the user to run faster, jump higher, or traverse challenging terrain. This paper presents the mechanical design of an alpha prototype with a focus on increasing the maximum vertical jump height of a human. High torque motors were constrained to the body with two degrees of freedom using carbon fiber, aluminum, and other lightweight materials. The exoskeleton actuates the hip joint by comfortably providing force to three points on the body. Human testing showed a maximum increase in jump height of 13%.
by Jacob Tims.
S.B.
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Farid, Michael S. "Dynamic exoskeleton : design and analysis of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103463.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 40-41).
Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis describes the first attempt to develop a powered exoskeleton suit that improves the maximum dynamic capability of a human. This Dynamic Exoskeleton is intended to enable to the user to run faster, jump higher, or traverse challenging terrain. This thesis presents a study on improving human vertical jump height using a powered exoskeleton. A simple human jump model is created, and dynamic simulation is utilized to determine the effectiveness of actuating the human hip joint for improving vertical jump height. A control system is developed and a series of human experiments with three test subjects are conducted. The test subjects improved their vertical jump heights by 13%, 6% and 5% respectively. The general challenges of actuating human joints and interfacing with the human body are presented.
by Michael S. Farid.
S.M.
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Siu, Ho Chit. "Moving and adapting with a learning exoskeleton." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119291.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2018.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 129-142).
The operation of a powered exoskeleton is a type of human-robot interaction with extremely tight human-robot coupling. As exoskeletons become increasingly intelligent, it is increasingly appropriate to think of them not simply as tools, but rather as semi-autonomous teammates. This thesis explores the implementation, operation, and consequences of intelligent exoskeletons - teammates that move and adapt to the human to which they are physically coupled. Exoskeletons have potential applications in several domains, including strength augmentation, injury reduction, and rehabilitation. Appropriately mapping human intent to exoskeleton action is crucial. Generating this mapping can be difficult, as operator movements are constrained by the exoskeletons they are trying to control. This problem is particularly significant with upper-body exoskeletons, where high degrees of freedom allow for much less predictable motion than in the lower body. Surface electromyography (sEMG) - reading electrical signals from muscles - is one way to estimate human intent. sEMG contains anticipatory information that precedes the associated limb movement, allowing for better human-exoskeleton coordination than reactive control methods. However, sEMG is very sensitive to individual physiologies and sensor placement. We use machine learning from demonstration (LfD) to create personalized, robust sEMG mappings for exoskeleton control. We demonstrate classification of transient dynamic grasping gestures with data where sEMG sensors on the forearm have been shifted from a nominal configuration. Next, sEMG-based gesture recognition is applied to exoskeleton control, where sEMG mappings are learned as the exoskeleton is controlled with a pressure-based inputs. Finally, we analyze the human-exoskeleton team performance, fluency, and adaptation using a pressure-based controller, a static sEMG mapping, and a dynamic sEMG mapping. We show that LfD allows us to use anticipatory signaling to reduce human-exoskeleton interaction pressure. Subjects were able to adapt to all three controllers, but team performance and fluency were affected by the controller type and order of exposure. These results have implications for future exoskeleton controller design, and for exoskeleton operator training. They also open up new avenues of research in relation to adaptation to exoskeletons, intent classification algorithms, and the application of metrics from the human-robot interaction literature to the field of human exoskeleton research.
by Ho Chit Siu.
Ph. D.
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Refour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.
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This thesis explores the field of robotic hand exoskeletons and their applications. These systems have emerged in popularity over the years, due to their potentials to advance the medical field as assistive and rehabilitation devices, and the field of virtual reality as haptic gloves. Although much progress has been made, hand exoskeletons are faced with several design challenges that are hard to overcome without having some tradeoffs. These challenges include: (1) the size and weight of the system, which can affect both the comfort of wearing it and its portability, (2) the ability to impose natural joint angle relationships among the user's fingers and thumb during grasping motions, (3) safety in terms of limiting the range of motions produce by the system to that of the natural human hand and ensuring the mechanical design does not cause harm or injury to the user during usage, (4) designing a device that is user friendly to use, and (5) the ability to effectively perform grasping motions and provide sensory feedback for the system to be applicable in various application fields.
In order to address these common issues of today's state-of-the-art hand exoskeleton systems, this thesis proposes a mechanism design for a novel hand exoskeleton and presents the integration of several prototypes. The proposed hand exoskeleton is designed to assist the user with grasping motions while maintaining a natural coupling relationship among the finger and thumb joints to resemble that of a normal human hand. The mechanism offers the advantage of being small-size and lightweight, making it ideal for prolong usage. Several applications are discussed to highlight the proposed hand exoskeleton functionalities in processing sensory information, such as position and interactive forces.MS
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Nguyen, Vienny. "A review of insect exoskeleton function and composition." Connect to resource, 2010. http://hdl.handle.net/1811/45367.
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Hoyos, Rodriguez David. "Realistic Computer aided design : model of an exoskeleton." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17558.
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The musculoskeletal disorders have significant health care, social and economic consequences in the factories nowadays. One of the most promising possible solutions is the use of exoskeletons in the workstations. Exoskeletons are assistive wearable robotics connected to the body of a person, which aims to give mechanical power or mobility to the user (Wang, Ikuma, Hondzinski, & de Queiroz, 2017). The objective of this project is to create a realistic CAD model of a passive exoskeleton which will be used in future research to analyse the behaviour of the workers in a virtual environment with and without the exoskeleton. This model will be a virtual representation of the exoskeleton EKSOVest which has been designed to support these workers who have to realize overhead tasks. This virtual representation will be carried out in PTC CREO and exported to IPS IMMA in order to check the viability of this model. To achieve a realistic model, the exoskeleton should have the same characteristics than the real exoskeleton. The objectives of this project will be defined for these characteristics, which are part creation, mechanisms, forces simulation, and parametrization. The parts and the mechanisms will be created and defined in PTC CREO with the same dimensions and behaviour as the real exoskeleton. Furthermore, this report will be focussed mainly in force simulation and the parametrization. The forces of the EKSOVest are generated by two different spring and by a high-pressure spring. To simulate these forces, the equation of these springs will be obtained and introduced in PTC CREO. These equations will be obtained through the regression of a set of points, which will be obtained from the real exoskeleton using a dynamometer. The parametrization will be carried out with the objective to make the virtual model adaptable for every type of mannequins. This parametrization will modify the length of the exoskeleton’s spine bar and the distance between the mechanical arms. These distances will be adapted according to the mannequin’s measures which will be introduced by the user. The measures that have to be introduced by the user are shoulder height, liac spine height, and chest width. In conclusion, it can be said that the regression of the springs obtained are an accurate result which can imitate quite well the forces of this exoskeleton. Furthermore, the results of the parametrization allow the exoskeleton adaptable to any type of dimensions that the mannequin could have. The final model obtained has been exported to IPS IMMA and implemented in a mannequin.
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Al, Rezage Ghasaq. "Augmenting elderly mobility with lower limb assistive exoskeleton." Thesis, University of Sheffield, 2018. http://etheses.whiterose.ac.uk/19340/.
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Sridar, Saivimal. "HydroBone and Variable Stiffness Exoskeleton with Knee Actuation." Digital WPI, 2016. https://digitalcommons.wpi.edu/etd-theses/391.
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The HydroBone is a variable stiffness load-bearing element, which utilizes jamming of granular media to achieve stiffness modulation, controlled by the application of positive pressure. Several compressive tests were conducted on the HydroBone in order to quantify the load-bearing capability of the system. It was determined that the stiffness of the HydroBone was a function of the internal pressure of the system. A controller was modeled based on this function to achieve automatic stiffness modulation of the HydroBone. An exoskeleton was designed based on the HydroBone and various actuators for the exoskeleton were considered. The HydroMuscle, a soft linear actuator was selected to provide knee actuation for the exoskeleton, based on several efficiency and force output test conducted. A knee brace was designed, capable of producing 15Nm of torque on the knee, actuated using Bowden cables coupled to the HydroMuscles.
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Moubarak, Salam. "Modeling and control of an upper extremity exoskeleton." Thesis, Lyon, INSA, 2012. http://www.theses.fr/2012ISAL0064.
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Ce travail présente le développement d’un robot exosquelette du membre supérieur pour des applications expérimentales dans le domaine des neurosciences. Le premier chapitre présente une description générale de l’anatomie du bras humain et introduit les principaux mouvements de l’épaule, du coude, et du poignet. Puis, l’état de l’art en matière d’exosquelettes et leurs différentes applications, fonctionnalités et limitations sont dressés. Le deuxième chapitre traite la conception mécanique et la plateforme électronique de notre prototype. Le calibrage et le traitement des signaux de commande et des retours codeurs sont abordés. Les modèles géométriques et cinématiques ainsi que les modèles dynamiques théoriques du robot sont calculés, simulés, et validés. Dans le troisième chapitre, la procédure d’identification des paramètres dynamiques de base du robot est présentée. Elle permet d’aboutir à une estimation du modèle dynamique réel utilisé dans la commande de l’exosquelette. Ensuite, une nouvelle méthode pour la compensation de gravité du robot est développée et validée, elle offre une alternative de commande plus simple et plus robuste et permet d’exécuter des manipulations dans un mode passif et transparent. Dans le dernier chapitre, la commande de l’exosquelette est abordée, trois stratégies de commande sont présentées, testées, et comparées. Une commande basée sur la compensation de la gravité et des frottements s’est avérée particulièrement appropriée pour nos manipulations. Puis, un protocole expérimental est mis au point pour un échantillon de douze personnes. Il permet l’évaluation des habilités visuelles et proprioceptives de l’homme à reconnaitre explicitement et implicitement ses propres mouvements reconstruits parmi d’autres. Enfin, une analyse statistique exhaustive des résultats est menée. Elle met en évidence une discrimination implicite entre les mouvements de soi et d’autrui, traduite par un avantage substantiel dans la reconnaissance des spécificités des mouvements reconstruits de soi par rapport à d’autruiThis work presents the development of an upper extremity exoskeleton for experimental applications in the neuroscience field. The first chapter gives a general description of the anatomy of the human arm and introduces the major movements of the shoulder, elbow, and wrist joints. Then, the state of the art of exoskeletons and their different applications, features, and limitations are presented. The second chapter presents the mechanical design and the electronic platform our prototype. The calibration and signal processing procedures of the control and encoder feedback signals are discussed. The geometric, kinematic and dynamic models of the robot are calculated, simulated and validated. In the third chapter, the identification of the dynamic parameters of the robot is treated. It leads to an estimate of the real dynamic model employed in the control of the exoskeleton. Then, a new method for the gravity compensation of serial robots is developed and validated. It offers a simple and robust control alternative and the possibility to operate in a passive and transparent mode. In the last chapter, the control of the exoskeleton is addressed, three control strategies are presented, tested and compared. A control based on the gravity and friction compensation was particularly appropriate for our applications. Then, an experimental protocol is developed and applied on a sample of twelve persons. It allows the evaluation of the visual and proprioceptive abilities of humans to explicitly or implicitly recognize their own movements. Finally, an exhaustive statistical analysis of the results is conducted. It gives substantial evidence of an implicit discrimination between self and others’ movements manifested by a clear advantage in the recognition of the specificities of ones own movements reconstructed among others
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Meyen, Forrest Edward. "Engineering a robotic exoskeleton for space suit simulation." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.
Full textAbstract:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
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Erol, Umit Levent. "DEVELOPMENT OF A LOWER EXTREMITY EXOSKELETON POWER UNIT." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1619385500249639.
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Mora, Quiles Elia, and Diego Borrell. "Evaluation of Exoskeleton Using XSENS System Including Scalefit." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-20114.
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Although the level of automation in the automotive industry is currently high, real humans are still required for assembly tasks, for example, during overhead tasks. This type of work can cause injuries in workers in this sector, especially musculoskeletal disorders (MSDs), being a cause for the inability to work in developed countries and, in turn, becoming a significant health problem. There is an aim to reduce the risk for these type of injuries during the development processes of this type of assembly operations. Various options are currently being considered where technology and the human factor can be combined. Among them, we find the object of study for this project, an exoskeleton.The aim of this project is to study the biomechanical effects as well as the ergonomics of a passive exoskeleton called Paexo Shoulder, developed by the company Ottobock, with the aim of relieving tensions in the shoulder joints and upper part of the shoulders, during its use in assembly tasks. For this purpose, an experiment will be designed in which several participants will carry out a series of tasks both with and without the exoskeleton, in such a way that the effects of its use and how they affect the users of the product can be observed. For this purpose, an experiment was designed to evaluate the effects of the use or non-use of this exoskeleton on 10 participants when performing a task similar to an overhead task in an assembly line. For the evaluation of the product, the Xsens motion capture system, in particular the Awinda model, was used together with the ScaleFit software to evaluate the results obtained through the motion capture recordings. In addition, in order to improve Digital Human Modelling (DHM) tools, the same task was simulated with the IPS-IMMA software, where the results were later analysed and compared with the motion capture results through ScaleFit.The results showed relatively large improvements in the respective moment reduction at the shoulder joint when using the exoskeleton. However, it was also observed that due to the upward force exerted by the exoskeleton on the arms, participants spent less time in low-risk areas evaluated by ScaleFit and therefore, this effect needs to be studied further.
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LaFay, Eric Bryan. "Mechanical System Design of a Haptic Cobot Exoskeleton." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920.
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Rogers, Emily Ann. "Assistive Exoskeleton for Injury Prevention During Downhill Walking." Thesis, Harvard University, 2015. http://nrs.harvard.edu/urn-3:HUL.InstRepos:14398554.
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This thesis presents a device designed to reduce muscular effort during downhill walking. The designed solution is a soft wearable exoskeleton consisting of an air spring, a wearable soft fabric interface that attaches the air spring to the user's body, and an integrated smart sensing and pneumatic control system. After prototyping of the device, initial evaluation was performed, showing that the device successfully produced a resistive torque of 5 Nm, decreasing torque on the knee by 10% for a 58 kg individual on a -20 degree slope. Following initial evaluation, human subject testing was conducted in order to determine the effect of the device on muscle activity and gait. Initial results show that on a -5 degree slope, the device can reduce muscle activity by up to 17%. Additionally, joint angle data showed that there were no substantial negative effects on the users natural gait pattern. This device is a low-cost solution that will help the active, elderly, and physically impaired alike by decreasing muscle fatigue, decreasing risk of overuse injuries, increasing independence, and improving overall quality of life.
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Pardoel, Scott. "Development and Testing of a Passive Ankle Exoskeleton." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36498.
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Aging is accompanied by a deterioration of physical abilities. For some this limits their mobility and thus their quality of life. Exoskeletons are a class of walking assist device that help reduce the effort required to walk. Currently, powered exoskeletons suffer from short battery life and thus limited usefulness. This thesis presents the design, fabrication, and testing of a novel unpowered ankle exoskeleton to assist normal walking over long distances. The design incorporates a Pneumatic Artificial Muscle (PAM) inflated and used as a passive air spring. To predict the behaviour of the PAM in this distinct application, a distinct dynamic model was developed to include the biaxial stress in the bladder as well as a polytropic gas assumption. Experimental testing was used to validate the model and indicated that the addition of the bladder stress enhanced the performance of the force prediction at low pressure but had negligible impact on the model at higher pressures. The experimental testing also showed that the temperature of the gas inside the PAM varies very slightly during passive elongation cycles, thus, validating an isothermal assumption. Once fabricated, the exoskeleton was tested in human walking trials.
Electromyography results showed that the exoskeleton was able to reduced the muscular activation activation of the Soleus muscle, however the results also included a significant reduction in the angular range of motion of the ankle. This is thought to be attributed to an insufficient acclimatization period during the human testing. Furthermore, due to an improper fit of the exoskeleton, the clutch mechanism did not operate as designed, leading to a reduced range of motion of the ankle. The device demonstrated its ability to reduce the effort of the calf muscles during walking, however, further refinements of the device fitting and clutch mechanism are required.
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Burnett, Bryant Whitney Rousseau. "Considerations for the Use of an Exoskeleton for Extremity Control and Assistance when Learning to Walk with Cerebral Palsy." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32388.
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Cerebral palsy is an occurrence in which the nerves and muscles if the body may function properly, but there is damage to the brain that causes it to transmit incorrect electrical impulses to the muscles including both too many and too few signals. Without the correct cohesive electrical impulses to balance the opposing muscles of a joint, normal everyday tasks that most of us take for granted become very difficult to learn and perform. As exoskeletons become more advanced and practical, their applications have a lot of room for growth. Cerebral Palsy is one portion of the medical field that can benefit from the development of exoskeletons. As demonstrated with modern rehabilitation techniques, the application of an exoskeleton has the possibility of making the learning process and performance of many tasks easier and faster for both the patient as well as the doctor working with them. However, in order to appropriately apply the technology to the need, many changes in both the controls and the actual physical design of current devices need to be addressed.
An exoskeleton for the purpose of helping cerebral palsy patients learn to walk is not limited to one specific form depending on the complexity of the tasks it is desired to assist with. However, there are a couple needs of this type of exoskeleton that are absolutely necessary. The size of the exoskeleton must be designed around the size of a child and not an adult. If the individual is learning to walk from the very beginning, the controls of the device will need to initially be able to take complete control over the individualâ s limbs to exercise the motions of walking. With the nature of an exoskeleton controlling the limbs of a person instead of simply assisting with current movements, the physical attachments of the exoskeleton must be improved from current designs in order to make movements of the exoskeleton and the body more parallel. Other features such as different muscle sensing techniques may also improve performance, but are not required. An exoskeleton that can help cerebral palsy patients learn to walk can also be applied to many other rehabilitation needs.
Master of Science
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Rahman, Mohammad Habibur. "Development of an exoskeleton robot for upper-limb rehabilitation." Mémoire, École de technologie supérieure, 2012. http://espace.etsmtl.ca/1048/1/RAHMAN_Mohammad_Habibur.pdf.
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Pour assister ou réadapter les personnes présentant une altération du fonctionnement d’un membre supérieur, nous avons développé un exosquelette robotique représentant un membre supérieur nommé, ETS-MARSE (motion assistive robotic-exoskeleton for superior extremity). MARSE est composé d’un support déplaçable pour l’épaule, d’un support déplaçable pour le coude et l’avant-bras et d’un support déplaçable pour le poignet. Il est conçu pour être porté sur le côté latéral du membre supérieur afin de fournir des mouvements naturels de l'épaule (flexion/extension verticale et horizontale et rotation interne/externe), du coude
(flexion/extension), de l’avant-bras (pronation/supination) et de l’articulation du poignet (déviation radiale/ulnaire et flexion/extension). Cette thèse se concentre sur la modélisation, la conception (composants mécaniques et électriques), le développement et le contrôle de MARSE.
Le robot MARSE proposée a été modélisé à partir de la biomécanique d’un membre supérieur, il a un poids relativement faible, un excellent rapport puissance/poids, facilement mis ou enlevé, et il est capable de compenser efficacement la gravité. De plus, afin d'éviter l'acheminement complexe des câbles qui pourraient se trouver dans plusieurs types d’exosquelettes, un nouveau mécanisme de transmission de puissance a été introduit pour
aider la rotation interne/externe de l'articulation de l'épaule ainsi que la pronation/supination de l'avant-bras. L'exosquelette est conçu pour être utilisé par des adultes typiques. Cependant, des dispositions pour ajuster la longueur des membres ont été effectuées afin d’accommoder
un grand éventail d’utilisateurs. La totalité du bras robotique est fabriquée principalement en aluminium, excepté pour les sections sous forte pression qui ont été fabriquées en acier pour donner à l’exosquelette une structure relativement légère. Des moteurs synchrones
(incorporés avec des systèmes d’entraînement harmonique direct) ont été utilisés pour actionner MARSE.
La cinématique de MARSE a été développée en se basant sur les notations de Denavit- Hartenberg modifiées. Dans le modèle dynamique et le contrôle, les paramètres du robot tels que les longueurs, la masse de ses membres et l’inertie sont estimés en fonction des propriétés d’un bras d'un adulte typique. Bien que l'exosquelette ait été développé avec l'objectif d'offrir différentes formes de thérapie de réadaptation (nommé mouvements passifs
du bras, thérapie active-assistée, et thérapie résistive), cette recherche s'est concentrée uniquement sur la forme passive de la réadaptation.
Les mouvements et les exercices passifs d’un bras sont généralement effectués à une vitesse plus lente que la vitesse naturelle du bras. Par conséquent, un PID simple et un PID avec souplesse ‘compliance’ ont été initialement utilisés pour contrôler le robot MARSE. Par la suite, la réalisation de la modélisation de la dynamique du mouvement du bras humain, qui est non linéaire par sa nature, ainsi qu’une méthode de commande par couple précalculé (CTC) et une méthode de commande par mode de glissement avec une loi de convergence exponentielle (mSMERL) ont été employées pour contrôler MARSE. Notez que pour améliorer les performances transitoires de poursuite et pour réduire les vibrations, cette thèse a proposé le mSMERL, une nouvelle approche de contrôle non linéaire qui combine le
concept de la technique de mode glissant avec une loi de convergence exponentielle. L'architecture de contrôle a été mise en oeuvre sur un FPGA (field-programmable gate array)
conjointement avec un ordinateur incluant un système d’exploitation en temps réel.
Pour les expériences, des exercices typiques de réadaptation pour le déplacement d’une ou plusieurs articulations ont été exécutés. Ces expériences ont été réalisées avec des sujets humains sains où les poursuites (trajectoires préprogrammées recommandées par un
thérapeute ou un clinicien) de trajectoires sous la forme d'exercices de réadaptation passive ont été effectuées.
Cette thèse se concentre aussi sur le développement d’un prototype (modèle réduit) d’un membre supérieur à 7 DDL nommé « aster exoskeleton arm » (mExoArm). De plus, des
expériences ont été réalisées avec le mExoArm où les sujets (utilisateurs de robots) ont opéré mExoArm pour manoeuvrer MARSE dans le but de fournir une réadaptation passive. Les
résultats expérimentaux montrent que MARSE peut accomplir efficacement des exercices de réadaptation passive pour des mouvements de l'épaule, coude et poignet. Utiliser mExoArm
offre aux utilisateurs une certaine souplesse sur les trajectoires préprogrammées sélectionnées, en particulier dans le choix de l'amplitude des mouvements et la vitesse du
mouvement. Par ailleurs, le mExoArm pourrait potentiellement être utilisé pour la réadaptation à distance.
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Ali, Siti Khadijah. "Modeling and control of de-weighting upper-limb exoskeleton." Thesis, University of Sheffield, 2017. http://etheses.whiterose.ac.uk/19195/.
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Phan, Hue-Eileen. "Regulatory Mechanisms Underlying Regeneration of the Adult Zebrafish Exoskeleton." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37991.
Full textAbstract:
The fin exoskeleton of the zebrafish is comprised of lepidotrichia (or fin rays) and actinotrichia. In uncut fins, the fin rays span the entire length of the fin and the actinotrichia are found at the distal tips of each of the fin rays. Both of these fin exoskeletal components are capable of regenerating following amputation or injury. The regulation of the regeneration of these exoskeletal components is the central topic of this thesis and is explored in two different projects. The first project focuses on zebrafish fin ray regeneration during which bone segments are periodically added at the distal tips of each fin ray, each segment being separated by a joint. Joint formation involves the expression of a unique set of genes: hoxa13a, evx1, and pthlha. The alternation between bone segment formation and joint formation during fin ray regeneration seems to closely correlate with positional outgrowth during regeneration. We investigated whether or not the calcineurin and retinoic acid (RA) signalling pathways, both of which may be potential regulators of positional outgrowth, are involved in regulating joint formation. FK506-induced calcineurin inhibition and RA treatments each resulted in the suppression of joint marker expression. In RA-treated fins, bone deposition occurs in the joints as a result of joint cells being induced to differentiate into osteoblasts. These results suggest that the calcineurin and RA pathways may provide the positional information that regulates joint and bone segment formation. The second project focuses on the regulation of actinotrichia formation during adult fin regeneration. Throughout the early to intermediate stages of fin ray regeneration, actinotrichia fibers are found deep to the regenerating hemirays. As regeneration progresses, these actinotrichia fibers become gradually restricted to the distal domain of the fin regenerate. Actinotrichia contain structural proteins known as actinodin. There are four actinodin genes in zebrafish, actinodin1-4. We studied the comparative activity of the cis-acting regulatory elements of actinodin1 during fin regeneration. We have previously identified tissue-specific cis-acting regulatory elements in a 2kb genomic region upstream of the first exon, termed 2P, that drive reporter expression in the fin fold ectoderm and mesenchyme during embryonic development. Within 2P is a 150bp region, named epi, which contains an ectodermal/epithelial enhancer. Using in silico analysis, we have identified four main clusters of transcription factor binding sites within epi, termed epi1-4. Using a reporter transgenic approach, we have identified epi3 as a site containing an early mesenchymal-specific repressor and an epithelial-specific enhancer. We have also shown that the first exon and intron of actinodin1 contains a general transcriptional enhancer in adulthood and an alternative promoter. Overall, these results suggest that there is a difference between the regulation of actinodin1 during embryonic development and that of adult fin regeneration.
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Tabti, Nahla. "Contribution to the design of the scalable exoskeleton SOL3." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG007.
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Les maladies qui affectent la fonction motrice et neuronale sont appelées maladies neuromusculaires. Ils sont de nature dégénérative, ce qui signifie qu'ils ont tendance à s'aggraver avec le temps. Ces dernières années, grâce aux récentes percées dans leur technologie les exosquelettes sont utilisés pour aider les patients atteints de maladies neuromusculaires pour leur mobilité. Par conséquent, les exosquelettes apparaissent comme une solution idéale pour ceux qui souhaitent maintenir leur mobilité tout en étant en position verticale. Il a été observé que la plupart des dispositifs n'étaient pas adaptables aux besoins des patients atteints de maladies neuromusculaires. Un exosquelette de membre inférieur, SOL3, est présenté ainsi que sa réalisation et son évaluation. Une attention particulière est portée à l'évolutivité et à l'adaptabilité de l'actionneur et de la structure de l'exosquelette. Bien que l'objectif principal de la conception soit d'assurer l'évolutivité, certaines directives de conception ont également été prises en compte. Il s'agit principalement de la résolution du problème de compatibilité cinématique et des éventuels désalignements pouvant survenir lors de la jonction de chaînes cinématiques deux par deuxDiseases that affect motor and neuronal function are called neuromuscular diseases. They are degenerative in nature, which means they tend to get worse over time. In recent years, thanks to recent breakthroughs in their technology exoskeletons are being used to help patients with neuromuscular diseases with their mobility. Therefore, exoskeletons appear as an ideal solution for those who wish to maintain their mobility while being in an upright position. It was observed that most of the devices were not adaptable to the needs of patients with neuromuscular disesases. A lower limb exoskeleton, SOL3, is presented along with its construction and evaluation. Particular attention is paid to the scalability and adaptability of the actuator and the structure of the exoskeleton. While the primary goal of the design is to ensure scalability, some design guidelines have also been considered. This mainly concerns the resolution of the kinematic compatibility problem and the possible misalignments that may occur when joining kinematic chains two by two
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Chauhan, Raghuraj Jitendra. "Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/104113.
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This thesis presents both a control scheme for naturalistic control of an exoskeleton glove and a glove design. Exoskeleton development has been focused primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control that is not limited to position or force reference signals and is user-driven. By implementing a motion amplification controller to increase weak movements of an impaired individual, a finger joint trajectory can be observed and used to predict their grasping intention. The motion amplification functions off of a virtual dynamical system that safely enforces the range of motion of the finger joints and ensures stability. Three grasp prediction algorithms are developed with improved levels of accuracy: regression, trajectory, and deep learning based. These algorithms were tested on published finger joint trajectories. The fusion of the amplification and prediction could be used to achieve naturalistic, user-guided control of an exoskeleton glove. The key to accomplishing this is series elastic actuators to move the finger joints, thereby allowing the wearer to deflect against the glove and inform the controller of their intention. These actuators are used to move the fingers in a nine degree of freedom exoskeleton that is capable of achieving all the grasps used most frequently in daily life. The controllers and exoskeleton presented here are the basis for improved exoskeleton glove control that can be used to assist or rehabilitate impaired individuals.Master of Science
Millions of Americans report difficulty holding small or even lightweight objects. In many of these cases, their difficulty stems from a condition such as a stroke or arthritis, requiring either rehabilitation or assistance. For both treatments, exoskeleton gloves are a potential solution; however, widespread deployment of exoskeletons in the treatment of hand conditions requires significant advancement. Towards that end, the research community has devoted itself to improving the design of exoskeletons. Systems that use soft actuation or are driven by artificial tendons have merit in that they are comfortable to the wearer, but lack the rigidity required for monitoring the state of the hand and controlling it. Electromyography sensors are also a commonly explored technology for determining motion intention; however, only primitive conclusions can be drawn when using these sensors on the muscles that control the human hand. This thesis proposes a system that does not rely on soft actuation but rather a deflectable exoskeleton that can be used in rehabilitation or assistance. By using series elastic actuators to move the exoskeleton, the wearer of the glove can exert their influence over the machine. Additionally, more intelligent control is needed in the exoskeleton. The approach taken here is twofold. First, a motion amplification controller increases the finger movements of the wearer. Second, the amplified motion is processed using machine learning algorithms to predict what type of grasp the user is attempting. The controller would then be able to fuse the two, the amplification and prediction, to control the glove naturalistically.
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Beauchamp, Sarah Emily. "Design and Evaluation of a Flexible Exoskeleton for Lifting." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/95965.
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A flexible and passive exoskeleton is presented in this paper. The exoskeleton uses carbon fiber beams to provide an energetic return to its wearer and relieve their lower back muscles. The design of the exoskeleton and potential elastic mechanisms are described, and the results of biomechanical testing are given. The exoskeleton decreased the erector spinae muscle activity by 21-39.7%.MS
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Sharma, Manoj Kumar. "Design and Fabrication of Intention Based Upper-Limb Exoskeleton." University of Dayton / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841.
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Weaver, Valerie A. "DESIGN AND FABRICATION OF A HYBRIDNEUROPROSTHETIC EXOSKELETON FOR GAITRESTORATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1495230976762559.
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Heebner, Maryellen. "Comparison of Different Transmission Approaches to Optimize Exoskeleton Efficiency." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1576609767744357.
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Beil, Jonas [Verfasser], and T. [Akademischer Betreuer] Asfour. "Kinematisch kompatible Gelenkmechanismen für Exoskelette der unteren Extremitäten / Jonas Beil ; Betreuer: T. Asfour." Karlsruhe : KIT-Bibliothek, 2020. http://d-nb.info/1212512464/34.
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Beil, Jonas [Verfasser], and Tamim [Akademischer Betreuer] Asfour. "Kinematisch kompatible Gelenkmechanismen für Exoskelette der unteren Extremitäten / Jonas Beil ; Betreuer: Tamim Asfour." Karlsruhe : KIT Scientific Publishing, 2020. http://d-nb.info/1215293062/34.
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Olivoni, Enea. "Design and optimisation of a reconfigurable exoskeleton for ankle rehabilitation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/21098/.
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The EPSRC (Engineering and Physical Sciences Research Council) decided to fund a project which aims to deliver innovative rehabilitation through an exoskeleton which is modular and reconfigurable, to meet individual needs and have the required intelligence to monitor recovery, personalise treatments and deliver effective rehabilitation in stroke patients' own homes. The work of thesis has been carried out at King’s College in London, where a team worked on the different parts which make up the exoskeleton, namely hip, knee and ankle. The device that models the human ankle is the topic of this thesis, the content of which can be summarized as follows. After an introduction, in Chapter 2 a novel 2-UPS-UPRU/S mechanism (where P, R, U, S stand for prismatic, revolute, universal and spherical joint, respectively) which models the human ankle as a spherical joint, is introduced. This device is proposed to cover those rehabilitation tasks which see the patient as sitting or lying down. The direct and inverse kinematic problems are solved, and the singularity analysis is carried out. Furthermore, the calculation of the mechanism stiffness matrix via screw theory is presented. In Chapter 3, the requirements for walking are highlighted. This lays the groundwork to introduce the reconfiguration process described later in this chapter, which enable the transformation of the 2-UPS-UPRU/S into the UPS-UPU/S mechanism. This latter is intended for weight bearing tasks, including walking. Then, the CAD model of both devices which consider problems such as interference between elements and joint angle limitations is presented. The mobility analysis of the UPS-UPU/S device will be addressed by means of screw theory in Chapter 4. This part also, deals with the kinematic, singularity and stiffness analyses of the mechanism. In each chapter, calculations have been carried out using MATLAB software. Conclusions and future developments are covered in Chapter 5.
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Leibowitz, Dalia. "Design and testing of a flexible exoskeleton-to-shoe interface." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105692.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (page 40).
A lightweight minimalist lower-limb exoskeleton has been designed that reduces the metabolic cost of walking. Currently, this exoskeleton must be permanently attached to a shoe; holes are drilled into each new shoe used, a practice that is neither flexible nor cost-effective. A new attachment system is proposed to temporarily but securely connect the exoskeleton to shoes of various sizes. This exoskeleton-to-shoe interface is lightweight, adjustable for various shoe sizes, and easy to attach and remove. This interface is meant to increase the testing flexibility and commercial potential of the exoskeleton. After the interface was designed and built, the stiffness of the interface was measured and compared to the stiffness of the original rigid attachment. The stiffness was calculated using exoskeleton torque and the corresponding angle of attachment. Torque was calculated based on force applied by the exoskeleton, and the time-varying angle was found using motion capture. The results of these measurements suggest that at the tested frequencies of 0.5, 1, and 2 Hz the stiffness of the exoskeleton-to-shoe interface, which ranged from 8.082 Nm/° to 16.94 Nm/°, is greater than the stiffness of the control, which ranged from 6.143 Nm/° to 6.957 Nm/°. At all tested frequencies, the interface stiffness remained equal to or greater than the natural ankle stiffness during level ground walking. Since the interface stiffness is greater than the natural ankle stiffness, this flexible interface has acceptable stiffness. A flexible, lightweight, and size-variable exoskeleton-to-shoe interface with higher than natural ankle stiffness has the potential to be useful in both future research and eventual commercialization of the exoskeleton.
by Dalia Leibowitz.
S.B.
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Kuan, Jiun-Yih. "A leg exoskeleton simulator for design, sensing and control development." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/115717.
Full textAbstract:
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 137-143).
Leg exoskeletons have been developed in an effort to augment human locomotion for over a century. However, only two portable leg exoskeletal devices have shown a significant decrease in walking metabolism [35, 11], not to mention, no device that has shown effective assistance and biomimetic behavior across different walking speeds and terrains. This thesis aims to build a Leg Exoskeleton Simulator to effectively search the space of potential prosthetic and orthotic design, control, and sensing strategies so as to find the best means to improve human locomotion through wearable electromechanical technology and modern bionics, enabling rapid advancement of the human-machine interface. This thesis presents the MIT Exoskeleton Simulator, which is a modular tethered system that includes cable-drive mechanisms along with off-board power, actuation, control hardware, and wearable end-effector modules. In order to effectively transmit force to a wearable end-effector module, high-performance cable-drive modules with the Rolling Cable Transmission for both unidirectional actuation and bidirectional actuation were developed. A new Adaptive Coupling Joint design principle was proposed for designing a simple mechanical interface that can transmit pure torque from an input actuation source to any biological joint without altering the biological joint motions. The Simulator has been controlled with a bio-inspired control based controller that emulates the behavior of human morphology and neural control for the non-amputee participants. In this thesis, I tried to provide a base of knowledge regarding effective design, control, and sensing strategies for effective human augmentation. In the near future, more criteria can be further established for building effective leg exoskeletons that will improve the ambulatory speed, metabolic economy, and stability of walking humans. The Simulator could potentially enhance the ambulation of able-bodied persons or individuals with movement pathology, as well as providing the treatment or relief of gait dysfunction resulting from movement pathology, or restoration of age-related reduced locomotory function.
by Jiun-Yih Kuan.
Ph. D.
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Mooney, Luke Matthewson. "Autonomous powered exoskeleton to improve the efficiency of human walking." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103482.
Full textAbstract:
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 141-145).
For over a century, technologists have strived to develop autonomous leg exoskeletons that reduce the metabolic energy consumed when humans walk and run, but such technologies have traditionally remained unachievable. In this thesis, I present the Augmentation Factor, a simple model that predicts the metabolic impact of lower limb exoskeletons during walking. The Augmentation Factor balances the benefits of positive exoskeletal mechanical power with the costs of mechanical power dissipation and added limb mass. These insights were used to design and develop an autonomous powered ankle exoskeleton. A lightweight electric actuator mounted on the lower-leg provides mechanical assistance to the ankle during powered plantar flexion. Use of the exoskeleton significantly reduced the metabolic cost of walking by 11 ± 4% (p = 0.019) compared to walking without the device. In a separate study, use of the exoskeleton reduced the metabolic cost of walking with a 23 kg weighted vest by 8 ± 3% (p = 0.012). A biomechanical study revealed that the powered ankle exoskeleton does not simply replace ankle function, but augments the biological ankle while assisting the knee and hip. Use of the powered ankle exoskeleton was shown to significantly reduced the mean positive power of the biological ankle by 0.033 ± 0.006 W/kg (p<0.01), the knee by 0.042 ± 0.015 W/kg (p = 0.02), and the hip by 0.034 ± 0.009 W/kg (p<0.01). The Augmentation Factor was used to unify the results of the presented devices with the metabolic impacts of previous exoskeletons from literature. In the design of leg exoskeletons, this thesis underscores the importance of minimizing exoskeletal power dissipation and added limb mass, while providing substantial positive power to a walking human. These design requirements were used to develop the first autonomous exoskeleton to reduce the metabolic cost of walking.
by Luke Matthewson Mooney.
Ph. D.
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Koendjbiharie, Marlon Winston. "Control system design for exoskeleton of the right lower limb." reponame:Repositório Institucional da UnB, 2017. http://repositorio.unb.br/handle/10482/31932.
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Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Mecânica, 2017.Submitted by Raquel Almeida (raquel.df13@gmail.com) on 2017-11-24T15:54:01Z No. of bitstreams: 1 2017_MarlonWinstonKoendjbiharie.pdf: 4084677 bytes, checksum: 744dd7c81d89333ffa3cd981a9fa93e7 (MD5)
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Nesta pesquisa o modelo de um exoesqueleto do membro inferior direita para melhorar a mobilidade do usuário e seu sistema de controle foram desenvolvidos. O projeto físico do modelo do exoesqueleto consiste em três partes principais: um quadril e a parte superior e inferior da perna conectados um com o outro por juntas revolutas. Cada uma das juntas é atuado por um motor Brushless DC (BLDC) com caixa de redução para aumentar torque. Os motores a serem usados na construção possuem sensores de velocidade e de posição para fornecer os dados necessários para o sistema de controle. Solidworks Computer Aided Design (CAD) software é usado para desenvolver o modelo do exoesqueleto, que é salvo em formato extensible markup language (XML) para depois ser importado em Simmechanics, permitindo a integração de modelos de corpos físicos com componentes de Simulink. A cinemática inversa do exoesqueleto é desenvolvido e projetado em Very high speed integrated circuit Hardware Description Language (VHDL) usando aritmética em ponto flutuante para ser executado a partir de um dispositivo Field Programmable Gate Array (FPGA). Quatro representações diferentes do projeto de hardware do modelo cinematico do exoesqueleto foram desenvolvidos fazendo análise de erro com Mean Square Error (MSE) e Average Relative Error (ARE). Análise de trade-off de desempenho e área em FPGA é feito. A estratégia de controle Proportional-Integrative-Derivative (PID) é escolhido para desenvolver o sistema de controle do exoesqueleto por ser relativamente simples e eficiente para desenvolver e por ser amplamente usado em muitas áreas de aplicação. Duas estratégias de sistemas de controle combinado de posiçaõ e velocidade são desenvolvidos e comparados um com o outro. Cada sistema de controle consiste em dois controladores de velocidade e dois de posição. Os parâmetros PID são calculados usando os métodos de sintonização Ziegler-Nichols e Particle Swarm Optimization (PSO). PSO é um método de sintonização relativamente simples porém eficiente que é aplicado em muitos problemas de otimização. PSO é baseado no comportamento supostamente inteligente de cardumes de peixes e bandos de aves em procura de alimento. O algoritmo, junto com o método Ziegler-Nichols, é usado para achar parâmetros PID apropriados para os blocos de controle nas duas estratégias te controle desenvolvidos. A resposta do sistema de controle é avaliada, analisando a resposta a um step input. Simulação da marcha humana é também feito nos dois modelos de sistema de controle do exoesqueleto fornecendo dados de marcha humana ao modelo e analisando visualmente os movimentos do exoesqueleto em Simulink. Os dados para simulação da marcha humana são extraídos de uma base de dados existente e adaptados para fazer simulações nos modelos de sistema de controle do exoesqueleto.
In this research a model of an exoskeleton of the right lower limb for user mobility enhancement and its control system are designed. The exoskeleton design consists of three major parts: a hip, an upper leg and a lower leg part, connected to one another with revolute joints. The joints will each be actuated by Brushless DC (BLDC) Motors equipped with gearboxes to increase torque. The motors are also equipped with velocity and position sensors which provide the necessary data for the designed control systems. Solidworks Computer Aided Design (CAD) software is used to develop a model of the exoskeleton which is then exported in extensible markup language (XML) format to be imported in Simmechanics, enabling the integration of physical body components with Simulink components. The inverse kinematics of the exoskeleton model is calculated and designed in Very high speed integrated circuit Hardware Description Language (VHDL) using floating-point numbers, to be executed from a Field Programmable Gate Array (FPGA) Device. Four different bit width representations of the hardware design of the kinematics model of the exoskeleton are developed, performing error analysis with the Mean Square Error (MSE) and the Average Relative Error (ARE) approaches. Trade-off analysis is then performed against performance and area on FPGA. The Proportional-Integrative-Derivative (PID) control strategy is chosen to develop the control system for the exoskeleton for its relatively simple design and proven efficient implementation in a very broad range of real life application areas. Two control system strategies are developed and compared to one another. Each control system design is comprised of two velocity- and two position controllers. PID parameters are calculated using the Ziegler-Nichols method and Particle Swarm Optimization (PSO). PSO is a relatively simple yet powerful optimization method that is applied in many optimization problem areas. It is based on the seemingly intelligent behaviour of fish schools and bird flocks in search of food. The algorithm, alongside the Ziegler-Nichols method, is used to find suitable PID parameters for control system blocks in the two designs. The system response of the control systems is evaluated analyzing step response. Human gait simulation is also performed on the developed exoskeleton control systems by observing the exoskeleton model movements in Simulink. The gait simulation data is extracted from a human gait database and adapted to be fed as input to the exoskeleton control system models.
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Souza, Rafael Sanchez. "Design and prototyping of a development platform for exoskeleton research." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-26022018-141504/.
Full textAbstract:
Human machine interface has been a growing field of scientific research for the last years. Conventional robots have been conceived as rigid metallic structures and, when metal meets human tissue, it is necessary to break the mindset in order to achieve better interaction. Exoskeletons, often called wearable robots, shares the same challenges with applications ranging from industry, to military, medicine and entertainment. This work introduces a systematic design of a development platform for exoskeleton research supported by Requirement Engineering and implemented through prototyping. The dynamics of the human joint and the robotic joint are modelled with different couplings between them. A Model Reference Adaptive Control is proposed as a solution for exoskeleton control and simulations indicate that it is capable of estimating human joint parameters in real time. The Model Reference controller is implemented, with successful modulation of the robotic joint apparent impedance. From a practical perspective, we present the design and construction of an experimental workbench and the use of an on-line repository for the control software development. The on-line repository results in a viable way for collaborative project management, software versioning and scientific contribution. The experimental workbench which was designed to meet the stakeholders needs - the university, patients and therapists - being of modular application, easy to operate and relatively low cost, can be used to conduct motor control experiments and rehabilitation tasks.Interface homem e máquina tem sido um campo crescente de pesquisa científica nos últimos anos. Robôs convencionais têm sido concebidos como estruturas metálicas rígidas que, quando em contato com o tecido humano, faz necessário romper com o modo de pensar corrente para atingir uma melhor interação. Exoesqueletos, chamados também de robôs vestíveis, compartilham destes desafios e abrangem aplicação na indústria, militar, medicina e entretenimento. Este trabalho introduz uma abordagem sistemática, baseada em Engenharia de Requisitos e Prototipagem, para projeto de uma plataforma de desenvolvimento para pesquisa em exoesqueletos. A dinâmica da junta humana e da junta robótica são modeladas para diferentes acoplamentos entre si. O Controle Adaptativo por Modelo de Referência é proposto como uma solução para controle de exoesqueletos; simulações indicam ser capaz de estimar os parâmetros da junta humana em tempo real. O controlador por Modelo de Referência foi implementado, tendo sucesso na modulação da impedância aparente da junta robótica. De uma perspectiva mais prática, é apresentado o projeto e construção de uma bancada experimental e o uso de um repositório online para desenvolvimento do software de controle. O repositório on-line viabiliza gestão de projetos colaborativos, focado em versionamento de software e contribuição científica. A bancada experimental foi projetada para atender as necessidades de diferentes stakeholders - a universidade, os pacientes e terapeutas - sendo de aplicação modular, de fácil operação e relativo baixo custo, é capaz de conduzir experimentos de controle motor e tarefas de reabilitação.
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Murray, Rachel Elizabeth. "The modernist exoskeleton : Wyndham Lewis, D.H. Lawrence, H.D., Samuel Beckett." Thesis, University of Bristol, 2017. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.743010.
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Firouzy, Sina. "Optimal design of actuation systems for an enhancive robotic exoskeleton." Thesis, University of Leeds, 2017. http://etheses.whiterose.ac.uk/20675/.
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Enhancing the physical abilities of the human body is desirable for a number of reasons. These reasons include, but are not limited to, avoiding injury of workers who have to handle heavy loads in situations and environments where it is not possible to use conventional machinery (e.g. forklifts). A potential solution to this problem is the use of robotic exoskeletons to augment the strength and endurance of the human body for load-handling tasks. This study is part of a larger, industry-funded group-research project, done with the aim of developing an enhancive exoskeleton. The needs and target requirements of the final prototype have been determined based on the market-oriented goals of the group project. An energetically autonomous exoskeleton with an acceptably high load-carrying capacity is to be developed, and the key to accomplishing this is the optimal design of the actuation system. The ideal actuation system needs to be strong, but also power-efficient, so that it can be powered by a light-weight, portable power supply. The actuators should also be lightweight, so that the total weight of the exoskeleton is low enough to be safe for the human user. Therefore, this study was done with the aim of developing an optimal design for the actuators to achieve high load-carrying capacity, and low weight and power consumption. To be more specific, the aims of this research included the identification of the degrees of freedom (DOFs) to be actuated, obtaining the torque and power requirements for each actuator, and to design the actuators using the optimal motor size and optimal power transmission mechanism. Since initial investigations suggested the use of electric motors to achieve an untethered design, the baulk of the work done in this study is focused on actuator design using electric motors. Furthermore, the scope of this research is limited to the lower-body DOFs (namely the ankle, knee and hip joints) in the sagittal plane. To address the above-mentioned design problem, dynamic modelling and simulation of the exoskeleton movements were performed to obtain the torque and power requirements at the joint. These requirements, in addition to being used later in a novel optimisation algorithm, were also used as guidelines for a market search on electric motors, which resulted in a list which represents the current state of the art of electric motors. The list of motors was saved as a spreadsheet, in the form of a table containing the technical data which characterise each motor. Similar tables were also created for a number of different types of power transmission mechanisms considered in this study, namely strain gears, chain-and-sprocket mechanisms, and ballscrews. These lists have been used by the optimisation algorithm, which was developed to combine the mathematical models of a motor and a transmission mechanism from the lists, assess the performance of the combination, and repeat this procedure for each and every motor and transmission mechanism in these lists. Thus, through an exhaustive search, the optimum choices for the motors and power transmissions system can be determined for each actuator. Based on the results of the developed optimisation algorithm, a single-joint test prototype was designed, built and used to perform experiments in order to test and validate the reliability of simulations used in the optimisation algorithm. The test results were also used to modify the assumed values of an efficiency parameter within the simulation program. The optimisation algorithm was then refined with the modified parameter value, and the optimal designs of the actuators were obtained for the knee, hip and ankle joints in the sagittal plane. It was also discovered that the most power-efficient motors also yielded the upper bound of the required load-carrying capacity, which is 60 kg. In addition, energy harvesting aspect of such robotic exoskeletons have also been explored.
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Nandor, Mark J. "DESIGN AND FABRICATION OF AN ADVANCED EXOSKELETON FOR GAIT RESTORATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1333751142.
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Dennis, Eric Robert. "An Improved Knee Joint Locking Mechanism for a Hybrid Exoskeleton." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1544269279157624.
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Guo, Yunfei. "Personalized Voice Activated Grasping System for a Robotic Exoskeleton Glove." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/101751.
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Controlling an exoskeleton glove with a highly efficient human-machine interface (HMI), while accurately applying force to each joint remains a hot topic. This paper proposes a fast, secure, accurate, and portable solution to control an exoskeleton glove. This state of the art solution includes both hardware and software components. The exoskeleton glove uses a modified serial elastic actuator (SEA) to achieve accurate force sensing. A portable electronic system is designed based on the SEA to allow force measurement, force application, slip detection, cloud computing, and a power supply to provide over 2 hours of continuous usage. A voice-control-based HMI referred to as the integrated trigger-word configurable voice activation and speaker verification system (CVASV), is integrated into a robotic exoskeleton glove to perform high-level control. The CVASV HMI is designed for embedded systems with limited computing power to perform voice-activation and voice-verification simultaneously. The system uses MobileNet as the feature extractor to reduce computational cost. The HMI is tuned to allow better performance in grasping daily objects. This study focuses on applying the CVASV HMI to the exoskeleton glove to perform a stable grasp with force-control and slip-detection using SEA based exoskeleton glove. This research found that using MobileNet as the speaker verification neural network can increase the speed of processing while maintaining similar verification accuracy.Master of Science
The robotic exoskeleton glove used in this research is designed to help patients with hand disabilities. This thesis proposes a voice-activated grasping system to control the exoskeleton glove. Here, the user can use a self-defined keyword to activate the exoskeleton and use voice to control the exoskeleton. The voice command system can distinguish between different users' voices, thereby improving the safety of the glove control. A smartphone is used to process the voice commands and send them to an onboard computer on the exoskeleton glove. The exoskeleton glove then accurately applies force to each fingertip using a force feedback actuator.This study focused on designing a state of the art human machine interface to control an exoskeleton glove and perform an accurate and stable grasp.