Journal articles: '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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Constantinescu, C. Prof, O. Todorovic, and W. Prof Bauer. "Exoskelettbasierte Arbeitsplatzgestaltung*/Exoskeletons as digital resource - Workplace simulation and optimization through integrated intelligent exoskeletons." wt Werkstattstechnik online 107, no. 06 (2017): 387–91. http://dx.doi.org/10.37544/1436-4980-2017-06-3.

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Der Einsatz von Exoskeletten in der Industrie ist eine innovative Idee, um die Beschäftigung in der manuellen Materialhandhabung von schweren Teilen zu sichern, sie zu erleichtern und die Sicherheit am Arbeitsplatz zu erhöhen. Dieser Fachbeitrag konzentriert sich auf die Modellierungsmethodik, um digitale Menschmodelle mit digitalen Exoskeletten zu koppeln. Vor dem Einsatz eines Exoskeletts in der Industrie wird zunächst der Ist-Zustand und darauf aufbauend der Soll-Zustand simuliert.   The employment of the exoskeleton in factories represents an innovative idea for handling problems such as decreasing employment rate, manual handling of heavy parts and safety and security at the workplace. This paper mainly focuses on a modelling methodology for coupling the active and passive exoskeleton on standard digital humanoid. Before employing an exoskeleton into the plant, simulations of the current situation and of the target situation need to be performed.

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Willmann, Von R. "Das Exoskelett der männlichen Genitalien der Mecoptera (Insecta): I. Morphologie." Journal of Zoological Systematics and Evolutionary Research 19, no. 2 (April 27, 2009): 96–150. http://dx.doi.org/10.1111/j.1439-0469.1981.tb00235.x.

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Yao, Zhejun, Carla Molz, Johannes Sänger, Jörg Miehling, René Germann, Sandro Wartzack, Sven Matthiesen, and Robert Weidner. "Co-Simulationsmodell zur nutzerzentrierten Entwicklung von Unterstützungssystemen." Zeitschrift für wirtschaftlichen Fabrikbetrieb 116, no. 9 (September 1, 2021): 594–98. http://dx.doi.org/10.1515/zwf-2021-0085.

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Abstract Unterstützungssysteme zeichnen sich durch eine erhöhte Mensch-Maschine-Interaktion aus. Diese Interaktion und ihre Auswirkungen haben große Bedeutung für die Entwicklung und Anwendung von Unterstützungssystemen und führen zu einer besonderen Herausforderung bei der Simulation entsprechender Systeme. Um diesen gerecht zu werden, wird ein Co-Simulationsmodell von Menschen, Exoskelett und Power-Tool entwickelt. Derartige Co-Simulationsmodelle ermöglichen bereits in der frühen Phase der Entwicklung der Unterstützungssysteme eine digitale Integration des Anwenders.

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Willmann, R. "Über das Exoskelett von Austromerope poultoni Killington (Mecoptera: Meropeidae), ein Beitrag zur Phylogenie der Schnabelfliegen." Journal of Zoological Systematics and Evolutionary Research 17, no. 4 (April 27, 2009): 296–309. http://dx.doi.org/10.1111/j.1439-0469.1979.tb00713.x.

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Willmann, R. "Das Exoskelett der mannlichen Genitalien der Mecoptera (Insecta): II. Die phylogenetischen Beziehungen der Schnabelfliegen-Familien." Journal of Zoological Systematics and Evolutionary Research 19, no. 3 (April 27, 2009): 153–74. http://dx.doi.org/10.1111/j.1439-0469.1981.tb00237.x.

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Dohi, Tetsuji, Kousuke Kishi, Takashi Yasuda, and Isao Shimoyama. "Walking Microrobot Mechanism with an Exoskeleton." Journal of Robotics and Mechatronics 12, no. 2 (April 20, 2000): 150–57. http://dx.doi.org/10.20965/jrm.2000.p0150.

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A walking robot, 40mm × 25mm × 15mm, with an exoskeleton like the structure of an insect has been developed. This exoskeletal mechanism consists of several copper plates and polyimide hinges, and is fabricated using a micromachining technology and a paper folding technique. The electromagnetic actuators permit the hinges of the exoskeleton to bend elastically without friction. This results in converting the vertical motion of the electromagnetic actuators into the lateral walking motion of the robot. Both the electromagnetic force of the actuators and the elastic force of the hinges are proportional to the square of the characteristic length of a robot. This means that an exoskeletal mechanism is suitable for downsizing a movable robot.

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Karlov, A. E., A. A. Postolny, A. V. Fedorov, and S. F. Jatsun. "Simulation of an Exoskeleton with a Hybrid Linear Gravity Compensator." Proceedings of the Southwest State University 24, no. 3 (December 6, 2020): 66–78. http://dx.doi.org/10.21869/2223-1560-2020-24-3-66-78.

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Purpose of research. Development of a mathematical model of an exoskeleton equipped with a hybrid linear gravity compensator (HLGC), dynamic analysis on the example of a typical exoskeleton application scenario (in the process of lifting a load), obtaining time patterns of changes in system parameters, including electric drive torques allowing assessment of power plan power consumption and energy efficiency. The article deals with the challenging issue of improving the efficiency of the exoskeletal suit by means of HLGC. The use of a hybrid approach makes it possible to increase the efficiency of assisting the exoskeletal suit when performing various technological operations, for example, when lifting a load, when tilting and holding. Methods. When developing a mathematical model, an original approach was used to form the motion trajectory of the exoskeleton sectors during operation, based on the use of seventh-order polynomials. The paper uses a mathematical model represented by a system of second-order differential equations that connects the moments acting on the operator and the exoskeleton, the angular accelerations of the operator's back and the exoskeleton. Results. During numerical simulation, time diagrams of changes in system parameters, angles of rotation of exoskeleton hinges, moments that occur in a hybrid LGC, as well as graphs of current consumption of engines when performing lift and tilt with a load are obtained. Conclusion. In the course of the research, a kinematic model of an exoskeleton suit equipped with a GLGC was developed, second-order differential equations describing the dynamic behavior of the electromechanical system were written, and numerical simulation was performed to estimate the forces and energy consumption in the exoskeleton hinges and the drive of the hybrid linear gravity compensator.

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Mendoza-Becerril, María A., José Eduardo A. R. Marian, Alvaro Esteves Migotto, and Antonio Carlos Marques. "Exoskeletons of Bougainvilliidae and other Hydroidolina (Cnidaria, Hydrozoa): structure and composition." PeerJ 5 (February 16, 2017): e2964. http://dx.doi.org/10.7717/peerj.2964.

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The exoskeleton is an important source of characters for the taxonomy of Hydroidolina. It originates as epidermal secretions and, among other functions, protects the coenosarc of the polypoid stage. However, comparative studies on the exoskeletal tissue origin, development, chemical, and structural characteristics, as well as its evolution and homology, are few and fragmented. This study compares the structure and composition of the exoskeleton and underlying coenosarc in members of “Anthoathecata” and some Leptothecata, but does so mainly in bougainvilliid polyps histological analyses. We also studied the development of the exoskeleton under experimental conditions. We identified three types of glandular epidermal cells related to the origin of the exoskeleton and the secretion of its polysaccharides component. The exoskeleton of the species studied is either bilayered (perisarc and exosarc, especially in bougainvilliids) or corneous (perisarc). The exoskeleton varies in chemical composition, structural rigidity, thickness, extension, and coverage in the different regions of the colony. In bilayered exoskeletons, the exosarc is produced first and appears to be a key step in the formation of the rigid exoskeleton. The exoskeleton contains anchoring structures such as desmocytes and “perisarc extensions.”

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Six, Diana L. "A comparison of mycangial and phoretic fungi of individual mountain pine beetles." Canadian Journal of Forest Research 33, no. 7 (July 1, 2003): 1331–34. http://dx.doi.org/10.1139/x03-047.

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Two ophiostomatoid fungi, Ophiostoma clavigerum (Robinson-Jeffrey & Davidson) Harrington and Ophiostoma montium (Rumbold) von Arx, are known to be associated with the mycangia of the mountain pine beetle, Dendroctonus ponderosae Hopkins. However, virtually nothing is known regarding the phoretic fungi carried on the external surface of the exoskeleton of this beetle. In this study, I compared the phoretic fungi of individual D. ponderosae with the fungi carried in their mycangia. As many beetles carried ophiostomatoid fungi on the exoskeleton as in the mycangia; however, the species of ophiostomatoid fungus carried phoretically on an individual beetle was not always the same as was carried in its mycangia. Ophiostoma montium was isolated more often from exoskeletal surfaces than from mycangia, while the reverse was true for O. clavigerum. It appears that O. clavigerum is highly adapted for mycangial dissemination, while O. montium is adapted to phoretic as well as mycangial dissemination. Ophiostoma ips (Rumbold) Nannf. was phoretic on two beetles, indicating that cross-contamination with fungi from cohabiting Ips spp. may sometimes occur. Several non-ophiostomatoid fungi were isolated from exoskeletal surfaces, but none consistently so. All non-ophiostomatoid fungi isolated were common saprophytes often found in beetle-killed trees. Yeasts were also common and were isolated more often from the exoskeleton than from mycangia.

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Chong, Eunsuk, and F. C. Park. "Movement prediction for a lower limb exoskeleton using a conditional restricted Boltzmann machine." Robotica 35, no. 11 (November 28, 2016): 2177–200. http://dx.doi.org/10.1017/s0263574716000795.

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SUMMARYWe propose a novel class of unsupervised learning-based algorithms that extend the conditional restricted Boltzmann machine to predict, in real-time, a lower limb exoskeleton wearer's intended movement type and future trajectory. During training, our algorithm automatically clusters unlabeled exoskeletal measurement data into movement types. Our predictor then takes as input a short time series of measurements, and outputs in real-time both the movement type and the forward trajectory time series. Physical experiments with a prototype exoskeleton demonstrate that our method more accurately and stably predicts both movement type and the forward trajectory compared to existing methods.

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Foglyano, Kevin M., Rudi Kobetic, Curtis S. To, Thomas C. Bulea, John R. Schnellenberger, Musa L. Audu, Mark J. Nandor, Roger D. Quinn, and Ronald J. Triolo. "Feasibility of a Hydraulic Power Assist System for Use in Hybrid Neuroprostheses." Applied Bionics and Biomechanics 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/205104.

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Feasibility of using pressurized hydraulic fluid as a source of on-demand assistive power for hybrid neuroprosthesis combining exoskeleton with functional neuromuscular stimulation was explored. Hydraulic systems were selected as an alternative to electric motors for their high torque/mass ratio and ability to be located proximally on the exoskeleton and distribute power distally to assist in moving the joints. The power assist system (PAS) was designed and constructed using off-the-shelf components to test the feasibility of using high pressure fluid from an accumulator to provide assistive torque to an exoskeletal hip joint. The PAS was able to provide 21 Nm of assistive torque at an input pressure of 3171 kPa with a response time of 93 ms resulting in 32° of hip flexion in an able-bodied test. The torque output was independent of initial position of the joint and was linearly related to pressure. Thus, accumulator pressure can be specified to provide assistive torque as needed in exoskeletal devices for walking or stair climbing beyond those possible either volitionally or with electrical stimulation alone.

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Schalk, Marco, Jörg Siegert, Urs Schneider, and Thomas Bauernhansl. "Effektivität industrieller Exoskelette/Effectiveness of exoskeletons – analysis of an expert survey." wt Werkstattstechnik online 111, no. 05 (2021): 319–23. http://dx.doi.org/10.37544/1436-4980-2021-05-53.

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Exoskelette sind neue ergonomische Hilfen, die körperliche Beanspruchung bei schwerer körperlicher Arbeit senken. Mit der wachsenden Nachfrage nach Exoskeletten wächst auch der Bedarf an neuem Wissen zu Wirksamkeit und Effizienz dieser Systeme. Hierzu wurde eine Expertenbefragung durchgeführt.   Exoskeletons are novel ergonomic aids preventing physical overuse resulting from heavy physical labor. With the growing demand of exoskeletons there is a growing need in new knowledge about their effectiveness and efficiency. An expert survey was carried out.

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Zhu, Jun, Yu Wang, Jinlin Jiang, Bo Sun, and Heng Cao. "Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141668695. http://dx.doi.org/10.1177/1729881416686955.

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This article presents the design and experimental testing of a unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton. The proposed actuator is designed for mimicking the high-efficiency passive behavior of biological knee and providing actively assistance in locomotion. The adjustable passive compliance of exoskeletal knee is achieved through a variable ratio lever mechanism with linear elastic element. A compact customized electrohydraulic system is also designed to accommodate application demands. Preliminary experimental results show the prototype has good performances in terms of stiffness regulation and joint torque control. The actuator is also implemented in an exoskeleton knee joint, resulting in anticipant human-like passive compliance behavior.

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Ajayi, Michael Oluwatosin, Karim Djouani, and Yskandar Hamam. "Interaction Control for Human-Exoskeletons." Journal of Control Science and Engineering 2020 (June 26, 2020): 1–15. http://dx.doi.org/10.1155/2020/8472510.

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In this work, a general concept of the human-exoskeleton compatibility and interaction control is addressed. Rehabilitation, as applied to humans with motor control disorder, involves repetitive gait training in relation to lower limb extremity and repetitive task training in relation to upper limb extremity. It is in this regard that exoskeletal systems must be kinematically compatible with those of the subject in order to guarantee that the subject is being trained properly. The incompatibility between the wearable robotic device and the wearer results in joint misalignment, thus introducing interaction forces during movement. This, therefore, leads to the introduction of the need for interaction control in wearable robotic devices. Human-exoskeleton joint alignment is an uphill task; hence, measures to actualize this in order to guarantee the safety and comfort of humans are necessary. These measures depend on the types of joints involved in the rehabilitation or assistive process. Hence, several upper and lower extremity exoskeletons with concepts relating to interaction forces reduction are reviewed. The significant distinction in the modelling strategy of lower and upper limb exoskeletons is highlighted. Limitations of certain exoskeletal systems which may not allow the application of interaction control are also discussed.

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Grabowski, Alena M., and Hugh M. Herr. "Leg exoskeleton reduces the metabolic cost of human hopping." Journal of Applied Physiology 107, no. 3 (September 2009): 670–78. http://dx.doi.org/10.1152/japplphysiol.91609.2008.

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During bouncing gaits such as hopping and running, leg muscles generate force to enable elastic energy storage and return primarily from tendons and, thus, demand metabolic energy. In an effort to reduce metabolic demand, we designed two elastic leg exoskeletons that act in parallel with the wearer's legs; one exoskeleton consisted of a multiple leaf (MLE) and the other of a single leaf (SLE) set of fiberglass springs. We hypothesized that hoppers, hopping on both legs, would adjust their leg stiffness while wearing an exoskeleton so that the combination of the hopper and exoskeleton would behave as a linear spring-mass system with the same total stiffness as during normal hopping. We also hypothesized that decreased leg force generation while wearing an exoskeleton would reduce the metabolic power required for hopping. Nine subjects hopped in place at 2.0, 2.2, 2.4, and 2.6 Hz with and without an exoskeleton while we measured ground reaction forces, exoskeletal compression, and metabolic rates. While wearing an exoskeleton, hoppers adjusted their leg stiffness to maintain linear spring-mass mechanics and a total stiffness similar to normal hopping. Without accounting for the added weight of each exoskeleton, wearing the MLE reduced net metabolic power by an average of 6% and wearing the SLE reduced net metabolic power by an average of 24% compared with hopping normally at frequencies between 2.0 and 2.6 Hz. Thus, when hoppers used external parallel springs, they likely decreased the mechanical work performed by the legs and substantially reduced metabolic demand compared with hopping without wearing an exoskeleton.

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Dohle, Christian, Friedemann Müller, and Klaus Stephan. "Technische Entwicklungen zur Rehabilitation der Mobilität." Aktuelle Neurologie 44, no. 08 (October 2017): 549–54. http://dx.doi.org/10.1055/s-0043-109095.

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ZusammenfassungIn der Rehabilitation der Mobilität nach Schlaganfall sind technisch unterstützende Verfahren seit vielen Jahren gut etabliert und evaluiert. Belastbare Wirksamkeitsnachweise liegen vor für stationäre Endeffektorgeräte und Exoskeletts sowie für Laufbandtraining mit und ohne Gewichtsentlastung. Neue technische Entwicklungen ermöglichen die frühe Vertikalisierung im funktionellen Kontext bereits auf der (Intensiv-)Station. Zudem existieren mittlerweile verschiedene mobile Exoskelette, deren dezidierte Wirksamkeit allerdings noch belegt werden muss. Im klinischen Einsatz müssen neben einer anzustrebenden hohen Zahl an Repetitionen auch motivationale Aspekte stärker betont werden. Hier bieten sich Techniken der virtuellen Realität an. Für den praktischen Einsatz im klinischen Alltag sind hygienische Aspekte zu berücksichtigen. Für alle Neuentwicklungen ist der Einsatz in einem sinnvollen und reproduzierbaren Gesamtkonzept zu definieren.

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Han, Ming, Baojun Shi, Shijie Wang, Tiejun Li, Jianbin Feng, and Tao Ma. "Parameter Optimization and Experimental Analysis of Passive Energy Storage Power-Assisted Exoskeleton." Mathematical Problems in Engineering 2020 (November 3, 2020): 1–11. http://dx.doi.org/10.1155/2020/5074858.

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To address the occurrence of lumbar spine disease among labor workers who carry heavy objects, a passive energy storage based exoskeletal apparatus was designed to assist, using springs as energy storage elements and utilizing the change in energy that occurs when the human body is bent during the process of lifting objects. First, the mechanism of the exoskeleton was statically modeled; the spring stiffnesses and the locations of support points were used as design variables to optimize the model by optimizing the effective moment on the lumbar spine. Next, an optimized algorithm (Optdes-Sqp) based on the Newton method for solving quadratic programming subproblems was applied to optimize the stiffnesses of compression and extension springs and the positions of the upper support points of each spring. The accuracy of the simulated model was also verified using MATLAB software. Finally, the effect of optimization was verified, and the respiratory rates and heart rates of subjects before and after wearing the exoskeleton were analyzed. The experimental results show that the exoskeleton designed in this study assisted the subjects, and the results lay the foundation for follow-up designs and studies of exoskeletons.

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La Bara, Laura Maria Alessandra, Luca Meloni, Davide Giusino, and Luca Pietrantoni. "Assessment Methods of Usability and Cognitive Workload of Rehabilitative Exoskeletons: A Systematic Review." Applied Sciences 11, no. 15 (August 2, 2021): 7146. http://dx.doi.org/10.3390/app11157146.

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Robotic exoskeleton technologies are applied in the medical field to help patients with impaired mobility to recover their motor functions. Relevant literature shows that usability and cognitive workload may influence the patients’ likelihood to benefit from the use of rehabilitative exoskeletons. Following the PRISMA method, the present study aimed to systematically review the assessment methods of usability and cognitive workload in the use of exoskeletal devices for motor rehabilitation. The literature search was conducted in the Scopus and Web of Science bibliographical databases, using 16 keywords that were combined into one search query. A final sample of 23 articles was included in the review, from which 18 distinct assessment methods were identified. Of them, 15 aimed to assess usability, whereas 3 aimed to assess cognitive workload in the use of rehabilitative exoskeletons. Some of the identified methods (e.g., SUS, QUEST, SWAT, and NASA-TLX) showed good psychometric properties and were therefore proven to be appropriate to assess usability and cognitive workload while performing exoskeleton-based rehabilitation. The current study may contribute to the development of guidelines and analytical tools for exoskeletons’ usability and exoskeleton-related patients’ cognitive workload in the domain of medical rehabilitation.

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Huamanchahua, Deyby, Adriana Vargas-Martinez, and Ricardo Ramirez-Mendoza. "Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment." Electronics 10, no. 9 (April 30, 2021): 1069. http://dx.doi.org/10.3390/electronics10091069.

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Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

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Ceccarelli, Marco, and Cuauhtemoc Morales-Cruz. "A prototype characterization of ExoFinger, a finger exoskeleton." International Journal of Advanced Robotic Systems 18, no. 3 (May 1, 2021): 172988142110248. http://dx.doi.org/10.1177/17298814211024880.

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This article presents an experimental characterization of ExoFinger, a finger exoskeleton for finger motion assistance. The exoskeletal device is analyzed in experimental lab activities that have been conducted with different users to characterize the operation performance and to demonstrate the adaptability of the proposed device. The behavior of this device is characterized in detail using sensors to measure finger motion and power consumption. Sensor measures also demonstrate the given motion assistance performance in terms of an electrical finger response and finger temperature by resulting in an efficient solution with a large motion range of a finger in assistance of recovering finger motion.

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Brandt, Danita. "Biological basis for taphonomic patterns in the trilobite fossil record." Paleontological Society Special Publications 6 (1992): 34. http://dx.doi.org/10.1017/s2475262200005943.

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Appreciating the biological component of taphonomic patterns is necessary for accurately interpreting the mode of formation of fossiliferous assemblages. This study documents taphonomic patterns in three Late Ordovician trilobite genera (Flexicalymene, Isotelus, Ceraurus) and identifies four biological factors that affect incorporation of trilobite exoskeletal elements into the fossil record:1) Exoskeletal architecture. Recurring patterns of displaced tergites and points of disartiuclation indicate differential susceptibility of the exoskeleton during ecdysis, and presumably also during decay of a carcass. Disolcations are most common at articulation points, e.g., between cephalon and thorax, among thoracic segments, and between the thorax and pygidium. There is no evidence that facial sutures were lines of weakness except during ecdysis.2) Exoskeletal thickness. Thickness is a better predictor of preservation potential than the position, shape, function, or size of a tergite. For example, Ceraurus and Flexicalymene have hypostomata of similar shape and size, but the thicker Ceraurus hypostoma is more frequently preserved (or at least identified) than the thin ventral plate of Flexicalymene.3) Ecdysis. Molting potentially releases the greatest number of trilobite tergites to the fossil record. Molt ensembles are recognized by recurring assemblages of tergites (e.g., thoracopygidia, cephalothorax, multiple thoracic segments) although individual elements (e.g., hypostomata and librigenae) are shed as well. Distinguishing individual molt elements from tergites disarticulated via scavenging or post-mortem transport of carcass or exuvia is problematic. Ecdysis often releases intact exoskeletal elements: most breakage probably occurs later. during post-ecdysial transport or scavenging of the exuvia.4) Predation/scavenging. These effects are characterized by broken (vs. disarticulated) exoskeletal elements. The impact of these processes on the trilobite fossil record is difficult to assess: sublethal wounds are easiest to recognize, the product of successful predation/scavenging is most often unidentifiable comminuted trilobite debris. The products of successful predation/scavenging are identified as such indirectly by their association with the remains of possible predators or by their presence in coprolites.

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Hessin, William A. "Ceraurus and related trilobites from the Middle Ordovician Bobcaygeon Formation of south-central Ontario, Canada." Canadian Journal of Earth Sciences 26, no. 6 (June 1, 1989): 1203–19. http://dx.doi.org/10.1139/e89-102.

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Four cheirurine trilobite species belonging to three closely related genera are described from the Middle Ordovician Bobcaygeon Formation (Rocklandian–Kirkfieldian) of the Lake Simcoe area in south-central Ontario. Bufoceraurus is a new genus characterized by its large size, profuse, wart-like tubercles over the entire exoskeleton, short posterior border spines on the cephalon, short thoracic pleural spines, and large pygidium with two pairs of prominent posterior spines. The genus is represented by Bufoceraurus bispinosus (Raymond and Barton 1913). Gabriceraurus hirsuitus (Ludvigsen 1979b), Ceraurus plattinensis Foerste, 1920, and Ceraurus cf. globulobatus Bradley, 1930 are other species documented. Complete dorsal exoskeletal reconstructions are presented for all species based on well-preserved material. Hypostomes are known for all species.

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McNamara, Kenneth J., and Megan E. Tuura. "Evidence for segment polarity during regeneration in the Devonian asteropygine trilobite Greenops widderensis." Journal of Paleontology 85, no. 1 (January 2011): 106–10. http://dx.doi.org/10.1666/10-049.1.

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A complete molted exoskeleton of the asteropygine phacopid trilobite Greenops widderensis Lieberman and Kloc, 1997 from the Middle Devonian (Givetian) Widder Formation in southwestern Ontario, Canada that has suffered predatory trauma provides insights into the sequence of regeneration of segments. The molt configuration is such that it is possible to interpret the molting technique used by the trilobite. Predatory trauma affected four areas of the exoskeleton. The pygidium shows loss of the spinose margin on one side and damage to a single spine on the other; one genal spine has been broken and partially regrown; and the posterior of the glabella has been removed. It is thought that the first three traumas occurred during life, as these areas affected show signs of exoskeletal regeneration. The fourth trauma probably occurred to the exuvium. Analysis of the degree of regeneration of the pygidial pleurae indicates that there was an anteroposterior polarity to the regeneration. Other examples in the literature suggest that this regeneration polarity pattern may have been widespread in trilobites. It is suggested that, as in modern arthropods and annelids, this sequential regeneration was under the control of segmentation polarity genes.

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CALDWELL, DARWIN G., N. G. TSAGARAKIS, SOPHIA KOUSIDOU, NELSON COSTA, and IOANNIS SARAKOGLOU. ""SOFT" EXOSKELETONS FOR UPPER AND LOWER BODY REHABILITATION — DESIGN, CONTROL AND TESTING." International Journal of Humanoid Robotics 04, no. 03 (September 2007): 549–73. http://dx.doi.org/10.1142/s0219843607001151.

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The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/rehabilitation and military applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and, perhaps most critically, safety. This work describes the design, construction and testing of an ultra low-mass, full-body exoskeleton system having seven degrees of freedom (DOFs) for the upper limbs and five degrees of freedom (DOFs) for each of the lower limbs. This low mass is primarily due to the use of a new range of pneumatic muscle actuators as the power source for the system. The work presented will show how the system takes advantage of the inherent controllable compliance to produce a unit that is powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the user. The general layout of both the upper and the lower body exoskeleton is presented together with results from preliminary experiments to demonstrate the potential of the device in limb retraining, rehabilitation and power assist (augmentation) operations.

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Kim, Seung Ki, Dongho Park, Beomki Yoo, Dain Shim, Joong-On Choi, Tae Young Choi, and Eun Sook Park. "Overground Robot-Assisted Gait Training for Pediatric Cerebral Palsy." Sensors 21, no. 6 (March 16, 2021): 2087. http://dx.doi.org/10.3390/s21062087.

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The untethered exoskeletal robot provides patients with the freest and realistic walking experience by assisting them based on their intended movement. However, few previous studies have reported the effect of robot-assisted gait training (RAGT) using wearable exoskeleton in children with cerebral palsy (CP). This pilot study evaluated the effect of overground RAGT using an untethered torque-assisted exoskeletal wearable robot for children with CP. Three children with bilateral spastic CP were recruited. The robot generates assistive torques according to gait phases automatically detected by force sensors: flexion torque during the swing phase and extension torque during the stance phase at hip and knee joints. The overground RAGT was conducted for 17~20 sessions (60 min per session) in each child. The evaluation was performed without wearing a robot before and after the training to measure (1) the motor functions using the gross motor function measure and the pediatric balance scale and (2) the gait performance using instrumented gait analysis, the 6-min walk test, and oxygen consumption measurement. All three participants showed improvement in gross motor function measure after training. Spatiotemporal parameters of gait analysis improved in participant P1 (9-year-old girl, GMFCS II) and participant P2 (13-year-old boy, GMFCS III). In addition, they walked faster and farther with lower oxygen consumption during the 6-min walk test after the training. Although participant P3 (16-year-old girl, GMFCS IV) needed the continuous help of a therapist for stepping at baseline, she was able to walk with the platform walker independently after the training. Overground RAGT using a torque-assisted exoskeletal wearable robot seems to be promising for improving gross motor function, walking speed, gait endurance, and gait efficiency in children with CP. In addition, it was safe and feasible even for children with severe motor impairment (GMFCS IV).

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Gill, Vijay Kumar. "Methodology of Exoskeleton with Actuation Methods and Discussion of Nerves sensing for Exoskeleton." Indian Journal of Science and Technology 12, no. 38 (October 20, 2019): 1–8. http://dx.doi.org/10.17485/ijst/2019/v12i38/145571.

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WONG, WEY LIM, JAN MICHELS, and STANISLAV N. GORB. "Resilin-like protein in the clamp sclerites of the gill monogenean Diplozoon paradoxum Nordmann, 1832." Parasitology 140, no. 1 (September 3, 2012): 95–98. http://dx.doi.org/10.1017/s0031182012001370.

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SUMMARYResilin is a soft and elastic protein, which is found in many exoskeletal structures of arthropods. Proteins with similar chemical properties have been described for other invertebrates including monogenean fish parasites. However, for the latter taxon no clear microscopic evidence for a resilin-like protein has been shown so far. Here, we present the results of detailed microscopic analyses of the clamp sclerites (attachment devices) of the monogenean Diplozoon paradoxum. Toluidine blue, which is known to stain resilin, selectively stained the material in the clamp sclerites. In addition, when exposed to UV light, this material exhibited an intense blue autofluorescence. The emission spectrum of this autofluorescence has its maximum at 424 nm and is nearly identical to emission spectra of blue autofluorescences observed in 2 well-studied structures containing high proportions of resilin in the exoskeleton of the locust Schistocerca gregaria. The results strongly indicate that the sclerite material of D. paradoxum contains a resilin-like protein. The presence of such a protein likely enhances the attachment efficiency of the clamp sclerites and increases their lifetime.

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Karatajute-Talimaa, V. "Determination Methods for the Exoskeletal Remains of Early Vertebrates." Fossil Record 1, no. 1 (January 1, 1998): 21–51. http://dx.doi.org/10.5194/fr-1-21-1998.

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The exoskeleton, consisting of micromeric elements (odontodes) and their derivatives, is characteristic of the most ancient vertebrates. Great morphological and histological variability of discrete exoskeletal microremains makes it difficult to identify them. It is necessary to study not only separate scales or tesserae, but also to get a picture of the squamation in general, because species determined from discrete elements are understood as an assemblage of morphological types. For determination of discrete exoskeletal elements, their morphology, internal structure, defined tissue types of crown and basal plate, types (way) of their growth, system of vascular canals should be studied in addition changes occuring during ontogenetic development of both the dermal skeletal elements and the squamation should be taken in consideration. The material of different groups of early vertebrates (astraspids, tesakoviaspids, heterostracans, thelodonts, mongolepids, chondrichthyans and acanthodians), which were widely distributed in the Early Palaeozoic, are used as examples. <br><br> Ein Hautskelett aus mikromerischen Elementen (Odontodes) und davon abgeleiteten Formen ist für die meisten frühen Vertebraten kennzeichnend. Große morphologische und histologische Variabilität der einzelnen Mikroreste des Hautskeletts bereitet bei ihrer Bestimmung Schwierigkeiten. Es ist notwendig, nicht nur isolierte Schuppen und Tesserae zu untersuchen, sondern man muß sich eine Vorstellung der der gesamten Beschuppung verschaffen, da Arten bestimmt auf isoliertem Material als eine Ansammlung von morphologischen Typen verstanden werden müssen. Bei der Bestimmung isolierter Elemente des Enskeletts sollte man deren Morphologie, innere Struktur, Gewebetypen der Krone und Basalplatte, Arten des Wachstums, Anordnung der Gefäßkanäle und Veränderungen während des Wachstums des Einzelelements und der Gesamtbeschuppung berücksichtigen. Hautskelett-Elemente der verschiedenen Gruppen früher Vertebraten (Astraspiden, Tesakoviaspiden, Heterostraken, Thelodontier, Mongolepiden, Chondrichthyer und Acanthodier), die im frühen Paläozoikum weit verbreitet sind, werden als Beispiele benutzt. <br><br> doi:<a href="http://dx.doi.org/10.1002/mmng.19980010103" target="_blank">10.1002/mmng.19980010103</a>

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

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This article presents a wearable lower extremity exoskeleton (LEE) developed to enhance the ability of a human’s walking while carrying heavy loads. The ultimate goal of the current research work is to design and control a power assist system that integrates a human’s intellect for feedback and sensory purposes. The exoskeleton system in this work consists of an inner exoskeleton and an outer exoskeleton. The inner exoskeleton measures the movements of the wearer and provides these measurements to the outer exoskeleton, which supports the whole exoskeleton system to walk following the wearer. A special footpad, which is designed and attached to the outer exoskeleton, can measure the zero moment point (ZMP) of the human as well as that of the exoskeleton in time. Using the measured human ZMP as the reference, the exoskeleton’s ZMP is controlled by trunk compensation so that the exoskeleton can walk stably. A simulation platform has first been developed to examine the gait coordination through inner and outer exoskeletons. A commercially available software, xPC Target, together with other toolboxes from MATLAB, has then been used to provide a real-time operating system for controlling the exoskeleton. Real-time locomotion control of the exoskeleton is implemented in the developed environment. Finally, some experiments on different objects showed that the stable walking can be achieved in the real environment.

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Geonea, Ionut, Nicolae Dumitru, Adrian Sorin Rosca, Alin Petcu, and Leonard Ciurezu. "Experimental Validation of an Exoskeleton for Motion Assistance." Applied Mechanics and Materials 880 (March 2018): 111–17. http://dx.doi.org/10.4028/www.scientific.net/amm.880.111.

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In this paper experimental investigations concerning the prototype validation of an exoskeleton for human gait rehabilitation are presented. The proposed exoskeleton is intended for human legs motion assistance, being a low cost solution. The exoskeleton provides motion assistance for human hip and knee joint. The experimental gait analysis of the exoskeleton and assisted human subject is performed with goniometers sensors. These sensors are attached to the exoskeleton hip and knee joints and measure the angle variation. The results obtained for the exoskeleton motion are compared with those obtained in case of a healthy human subject. Angular variation corresponding to a step, as a comparison for human and exoskeleton joints is performed. The conclusion is that the designed exoskeleton is proper for human gait motion assistance, because the joints motion is comparable with the human subject.

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Jain, Prof Vijayalaxmi. "Exoskeleton Arm." International Journal for Research in Applied Science and Engineering Technology 7, no. 5 (May 31, 2019): 2823–26. http://dx.doi.org/10.22214/ijraset.2019.5465.

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Raut, Sumit. "Design and Analysis of Lightweight Lower Limb Exoskeleton for Military Usage." International Journal for Research in Applied Science and Engineering Technology 9, no. 9 (September 30, 2021): 896–907. http://dx.doi.org/10.22214/ijraset.2021.38090.

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Abstract: Nowadays, due to technological advancement, weapons are becoming smaller in size, which leads to the number of weapons carried by a single person increasing. As the number of weapons is increasing, then the capacity of the load carriage system of military personnel causes a great energy loss to carry weight. Also, carrying a weight of about 25 kg to 50 kg in different terrain causes different foot injuries which create a strain on the human body. An exoskeleton is a device used to replicate the motion of the human body so that humans can be used to control mechanical power for working on different operations which are beyond human strength. The exoskeleton technology makes it possible to reduce the energy loss of military personnel to produce controlled motion of the exoskeleton in different terrain. Hence, this project is aims to design a lower limb exoskeleton for carrying military load carriage systems. The designing and simulating the lower limb exoskeleton is done on fusion 360. Keywords: lower limb exoskeleton, military exoskeleton, exoskeleton design, exoskeleton analysis

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LIU, YANG, YONGSHENG GAO, and YANHE ZHU. "A NOVEL CABLE-PULLEY UNDERACTUATED LOWER LIMB EXOSKELETON FOR HUMAN LOAD-CARRYING WALKING." Journal of Mechanics in Medicine and Biology 17, no. 07 (November 2017): 1740042. http://dx.doi.org/10.1142/s0219519417400425.

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Wearable lower limb exoskeleton has comprehensive applications such as load-carrying augmentation, walking assistance, and rehabilitation training by using many active actuators in the joints to reduce the metabolic cost generally. The traditional fully actuated exoskeleton is bulky and requires large energy consumption, and the passive exoskeleton is difficult to provide effective power assistance. To achieve both small number of actuators and good assisting performance, this paper proposes a cable-pulley underactuated principle-based lower limb exoskeleton. The exoskeleton dynamics was modeled and the human-exoskeleton hybrid model was analyzed via ADAMS and LifeMOD to provide an evaluation method for power assistance. By exploiting the control strategy and utilizing the synergies of torque and power assistance, the hip joint and the knee joint can be actuated by a single cable simultaneously. Moreover, the human-exoskeleton co-simulation method was utilized to verify the assisting performance and control effect. In this simulation, the upper toque peak and power required by human are obviously reduced by power assistance and the joint angle curves without exoskeleton are in accordance with the joint angle curves with exoskeleton almost. In conclusion, the designed exoskeleton is compatible with human motion and feasible to provide effective power assistance in load-carrying walking.

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Han, Yali, Songqing Zhu, Zhou Zhou, Yu Shi, and Dabin Hao. "Research on a multimodal actuator-oriented power-assisted knee exoskeleton." Robotica 35, no. 9 (August 17, 2016): 1906–22. http://dx.doi.org/10.1017/s0263574716000576.

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SUMMARYA multimodal actuator was proposed to achieve a more agile power-assisted exoskeleton in uncertain complex walking environments. A power-assisted knee exoskeleton prototype based on a multimodal actuator was constructed. With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4˚, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.

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Achour, Z., and M. Hamerlain. "Hybrid Position/Force Controller Applied to Exoskeleton." International Journal of Materials, Mechanics and Manufacturing 7, no. 1 (February 2019): 42–45. http://dx.doi.org/10.18178/ijmmm.2019.7.1.426.

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Kubora, Naoki, and Yasuhisa Hasegawa. "Running Assistive Exoskeleton with a Side Mechanism." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 21–22. http://dx.doi.org/10.1299/jsmeicam.2015.6.21.

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Kütük, Mehmet Erkan, Lale Canan Dülger, and Memik Taylan Daş. "Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation." Mechanical Sciences 10, no. 1 (March 13, 2019): 107–18. http://dx.doi.org/10.5194/ms-10-107-2019.

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

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Pan, Dalei, Feng Gao, and Yunjie Miao. "Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 9 (October 24, 2013): 1501–11. http://dx.doi.org/10.1177/0954406213509611.

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This article proposes a novel type of series-parallel lower extremity exoskeleton driven by hydraulic actuators. Each leg of the exoskeleton has six DOFs, which can walk like human and carry heavy loads. A mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Based on Kane's method, the inverse dynamic model of the exoskeleton was conducted. Finally, the exoskeleton humanoid gaits of level walking, ascent, descent, level walking with different loads and speed were simulated, and the required driving torques and power were obtained. These performance analyses provide a basis to the design of the control law and the estimation of the hydraulic actuator parameters for the exoskeleton.

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Ajayi, Michael Oluwatosin, Karim Djouani, and Yskandar Hamam. "Rhythmic Trajectory Design and Control for Rehabilitative Walking in Patients with Lower Limb Disorder." International Journal of Humanoid Robotics 13, no. 04 (November 29, 2016): 1650006. http://dx.doi.org/10.1142/s0219843616500067.

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Wearable robotic systems have been a mechanism which clearly drives the motive of bringing back paraplegics back on their feet as well as executing difficult task beyond human ability. The purpose of this research study is to design and investigate the efficacy of rehabilitative walking in patients with lower limb disorders using oscillators which may commonly be referred to as central pattern generators (CPGs). In order to achieve this, a rhythmic trajectory is designed using Van der Pol oscillators. This rhythmic trajectory commensurates with the movement pattern of the hips and knees for a normal walking gait of humans. The dynamical model of a five-link biped exoskeletal device having four actuated joints is computed with regard to the wearer using Lagrangian principles in the sagittal plane. A feedback linearization control technique is therefore utilized for tracking the rhythmic trajectory to achieve a proper following of the human walking gait. Matlab/Simulink is used to validate this proposed strategy in the presence of uncertainties with a view to implementing it practically in the laboratory with human in the loop. Results show that humans with the aid of the exoskeleton device will possess the ability to track this rhythmic trajectory representing the hip and knee joint movements. The controller proved robust enough against disturbance.

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Wang, Wenkang, Liancun Zhang, Kangjian Cai, Zhiheng Wang, Bainan Zhang, and Qiang Huang. "Design and Experimental Evaluation of Wearable Lower Extremity Exoskeleton with Gait Self-adaptivity." Robotica 37, no. 12 (May 21, 2019): 2035–55. http://dx.doi.org/10.1017/s0263574719000663.

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SummaryIn this paper, we present a passive lower extremity exoskeleton with a simple structure and a light weight. The exoskeleton does not require any external energy source and can achieve energy transfer only by human body’s own gravity. The exoskeleton is self-adaptive to human gait to achieve basic matching therewith. During walking, pulling forces are generated through Bowden cables by pressing plantar power output devices by feet, and the forces are transmitted to the exoskeleton through a crank-slider mechanism to enable the exoskeleton to provide torques for the ankle and knee joints as required by the human body during the stance phase and the swing phase. Our self-developed gait detection system is used to perform experiments on kinematics, dynamics and metabolic cost during walking of the human body wearing the exoskeleton in different states. The experimental results show that the exoskeleton has the greatest influence on motion of the ankle joint and has the least influence on hip joint. With the increase in elastic coefficient of the spring, the torques generated at the joints by the exoskeleton increase. When walking with wearing k3EF exoskeleton at a speed of 0.5 m/s, it can save the most metabolic cost, reaching 13.63%.

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Journal articles on the topic 'Exoskelett'

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