Relevant bibliographies by topics / Powered Exoskeleton

Academic literature on the topic 'Powered Exoskeleton'

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Published: 4 June 2021
Last updated: 20 February 2023

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Journal articles on the topic "Powered Exoskeleton"

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Acosta-Sojo, Yadrianna, and Leia Stirling. "Muscle Activation Differs Between Individuals During Initial Powered Ankle Exoskeleton Adaptation." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 65, no. 1 (September 2021): 415–18. http://dx.doi.org/10.1177/1071181321651055.

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Although previous studies have shown that powered exoskeletons reduce muscle activation while walking across participants, less is known about how they impact an individual’s muscle activation. This study examined an individual’s muscle activity during walking with a powered ankle exoskeleton. The designed human-exoskeleton coordination was defined as a decrease in medial gastrocnemius (MGAS) muscle activation with the exoskeleton powered and increase with the exoskeleton unpowered. 60% of the participants were observed to coordinate with the exoskeleton as designed, with 67% showing a decrease in RMS MGAS during adaptation. 60% of the participants showed no change during the de-adaptation, with 47% not returning to baseline metrics by late de-adaptation. Muscle activity differs between individuals in response to the exoskeleton power state and over time within the power state. It is important to consider these different behaviors when integrating exoskeletons into occupational settings as adaptation may be supported by training and experience.
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ROSEN, JACOB, and JOEL C. PERRY. "UPPER LIMB POWERED EXOSKELETON." International Journal of Humanoid Robotics 04, no. 03 (September 2007): 529–48. http://dx.doi.org/10.1142/s021984360700114x.

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An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.
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Choi, Hyunjin. "Assistance of a Person with Muscular Weakness Using a Joint-Torque-Assisting Exoskeletal Robot." Applied Sciences 11, no. 7 (March 31, 2021): 3114. http://dx.doi.org/10.3390/app11073114.

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Robotic systems for gait rehabilitation have been actively developed in recent years; many of the rehabilitation robots have been commercialized and utilized for treatment of real patients in hospitals. The first generation of gait rehabilitation robots was a tethered exoskeleton system on a treadmill. While these robots have become a new trend in rehabilitation medicine, there are several arguments about the effectiveness of such robots due to the passiveness of the motions that the robots generate, i.e., the continuous passive motions may limit the active involvement of patients’ voluntary motion control. In order to let a patient be more actively involved by requiring the self-control of whole-body balance, untethered powered exoskeletons, wearable robots that patients can wear and walk on the ground, are receiving great attention. While several powered exoskeletons have been commercialized already, the question about their effectiveness has not been cleared in the viewpoint of rehabilitation medicine because most of the powered exoskeletons provide still continuous passive motions, even though they are on the ground without tethering. This is due to their control strategy; the joints of a powered exoskeleton are position-controlled to repeatedly follow a predefined angle trajectory. This may be effective when a wearer is completely paraplegic such that the powered exoskeleton must generate full actuation power for walking. For people with muscular weakness due to various reasons, the powered exoskeleton must assist only the lack of muscular force without constraining human motion. For assistance and rehabilitation of people with partial impairment in walking ability, Angel Legs is introduced in this paper. The proposed powered exoskeleton system is equipped with a transparent actuation system such that the assistive force is accurately generated. The overall design and control of Angel Legs are introduced in this paper, and a clinical verification with a human subject is also provided.
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Bequette, Blake, Adam Norton, Eric Jones, and Leia Stirling. "Physical and Cognitive Load Effects Due to a Powered Lower-Body Exoskeleton." Human Factors: The Journal of the Human Factors and Ergonomics Society 62, no. 3 (March 23, 2020): 411–23. http://dx.doi.org/10.1177/0018720820907450.

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Objective The aim of this study is to determine the effects of a powered exoskeleton on measures of physical and cognitive performance. Background US warfighters carry heavy equipment into battle, and exoskeletons may reduce that burden. While exoskeletons are currently evaluated for their effects on physical performance, their cognitive effects are not currently considered. Method Twelve military members participated in a simulated patrol task under three conditions: wearing a powered exoskeleton (PWR), an unpowered exoskeleton (UNP), and without wearing an exoskeleton (OFF). While following a confederate over obstacles at a constant pace, participants performed additional audio and visual tasks. Dependent measures included visual misses, visual reaction time, audio misses, audio reaction time, incremental lag time, and NASA-TLX scores. Results The variability in the follow-task lag time was lowest with OFF and highest with UNP, highlighting reduced ability to maintain pace with the exoskeleton. Visual reaction time was significantly slower with PWR compared to OFF for 5 of 12 subjects. The NASA-TLX overall workload scores were lower for OFF compared to PWR and UNP. Conclusion Efforts to understand individual variability are warranted such that exoskeleton designs can be used for a wider set of the population. While not all subjects had measurable differences in the selected performance tasks, the perception of increased workload was present across subjects. It remains to be determined what difference in reaction time would be operationally relevant for task-specific settings. Application Findings draw attention to the need to consider “cognitive fit” and subject differences in the design and implementation of exoskeletons.
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Lippi, Vittorio, and Thomas Mergner. "A Challenge: Support of Standing Balance in Assistive Robotic Devices." Applied Sciences 10, no. 15 (July 29, 2020): 5240. http://dx.doi.org/10.3390/app10155240.

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Neurological patients using a powered lower-body exoskeleton for rehabilitation of standing and walking skills in an upright body pose face the safety challenge of postural instability and fall. Current research, therefore, develops exoskeletons with self-balancing functions. This study suggests basing the exoskeleton’s stabilization of standing posture on a human-derived postural control mechanism. A corresponding control system has previously been successfully tested with specific balancing tasks in humanoid robots. Here, we provide a short introduction into the control method and, using a lightweight robot, present as a test of the balancing an experimental shift in the body weight distribution (as if, e.g., a human exoskeleton user was raising an arm or leaning the upper body or lifting an external weight). An overview of other specific balancing tests previously already investigated in humans and humanoids is also briefly mentioned. Overall, the tests will allow the quantification of the capabilities of self-balancing exoskeletons developed for patients with partial paralysis of lower body sensorimotor functions.
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Duddy, Damien, Rónán Doherty, James Connolly, Stephen McNally, Johnny Loughrey, and Maria Faulkner. "The Effects of Powered Exoskeleton Gait Training on Cardiovascular Function and Gait Performance: A Systematic Review." Sensors 21, no. 9 (May 5, 2021): 3207. http://dx.doi.org/10.3390/s21093207.

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Patients with neurological impairments often experience physical deconditioning, resulting in reduced fitness and health. Powered exoskeleton training may be a successful method to combat physical deconditioning and its comorbidities, providing patients with a valuable and novel experience. This systematic review aimed to conduct a search of relevant literature, to examine the effects of powered exoskeleton training on cardiovascular function and gait performance. Two electronic database searches were performed (2 April 2020 to 12 February 2021) and manual reference list searches of relevant manuscripts were completed. Studies meeting the inclusion criteria were systematically reviewed in accordance with Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. n = 63 relevant titles were highlighed; two further titles were identified through manual reference list searches. Following analysis n = 23 studies were included. Data extraction details included; sample size, age, gender, injury, the exoskeleton used, intervention duration, weekly sessions, total sessions, session duration and outcome measures. Results indicated that exoskeleton gait training elevated energy expenditure greater than wheelchair propulsion and improved gait function. Patients exercised at a moderate-intensity. Powered exoskeletons may increase energy expenditure to a similar level as non-exoskeleton walking, which may improve cardiovascular function more effectively than wheelchair propulsion alone.
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Nelson, Allison J., Patrick T. Hall, Katherine R. Saul, and Dustin L. Crouch. "Effect of Mechanically Passive, Wearable Shoulder Exoskeletons on Muscle Output During Dynamic Upper Extremity Movements: A Computational Simulation Study." Journal of Applied Biomechanics 36, no. 2 (April 1, 2020): 59–67. http://dx.doi.org/10.1123/jab.2018-0369.

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Wearable passive (ie, spring powered) shoulder exoskeletons could reduce muscle output during motor tasks to help prevent or treat shoulder musculoskeletal disorders. However, most wearable passive shoulder exoskeletons have been designed and evaluated for static tasks, so it is unclear how they affect muscle output during dynamic tasks. The authors used a musculoskeletal model and Computed Muscle Control optimization to estimate muscle output with and without a wearable passive shoulder exoskeleton during 2 simulated dynamic tasks: abduction and upward reach. To an existing upper extremity musculoskeletal model, the authors added an exoskeleton model with 3-dimensional representations of the exoskeleton components, including a spring, cam wheel, force-transmitting shoulder cable, and wrapping surfaces that permitted the shoulder cable to wrap over the shoulder. The exoskeleton reduced net muscle-generated moments in positive shoulder elevation by 28% and 62% during the abduction and upward reach, respectively. However, muscle outputs (joint moments and muscle effort) were higher with the exoskeleton than without at some points of the movement. Muscle output was higher with the exoskeleton because the exoskeleton moment opposed the muscle-generated moment in some postures. The results of this study highlight the importance of evaluating muscle output for passive exoskeletons designed to support dynamic movements to ensure that the exoskeletons assist, rather than impede, movement.
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Baptista, Renato, Francesco Salvaggio, Caterina Cavallo, Serena Pizzocaro, Svonko Galasso, Micaela Schmid, and Alessandro Marco De Nunzio. "Training-Induced Muscle Fatigue with a Powered Lower-Limb Exoskeleton: A Preliminary Study on Healthy Subjects." Medical Sciences 10, no. 4 (September 26, 2022): 55. http://dx.doi.org/10.3390/medsci10040055.

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Powered lower-limb exoskeletons represent a promising technology for helping the upright stance and gait of people with lower-body paralysis or severe paresis from spinal cord injury. The powered lower-limb exoskeleton assistance can reduce the development of lower-limb muscular fatigue as a risk factor for spasticity. Therefore, measuring powered lower-limb exoskeleton training-induced fatigue is relevant to guiding and improving such technology’s development. In this preliminary study, thirty healthy subjects (age 23.2 ± 2.7 years) performed three motor tasks: (i) walking overground (WO), (ii) treadmill walking (WT), (iii) standing and sitting (STS) in three separate exoskeleton-based training sessions of 60 min each. The changes in the production of lower-limb maximal voluntary isometric contraction (MVIC) were assessed for knee and ankle dorsiflexion and extension before and after the three exoskeleton-based trained motor tasks. The MVIC forces decreased significantly after the three trained motor tasks except for the ankle dorsiflexion. However, no significant interaction was found between time (before-, and after-training) and the training sessions except for the knee flexion, where significant fatigue was induced by WO and WT trained motor tasks. The results of this study pose the basis to generate data useful for a better approach to the exoskeleton-based training. The STS task leads to a lower level of muscular fatigue, especially for the knee flexor muscles.
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Kulkarni, Chaitanya, Hsiang-Wen Hsing, Dina Kandi, Shriya Kommaraju, Nathan Lau, and Divya Srinivasan. "Designing An Augmented Reality Based Interface For Wearable Exoskeletons." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 64, no. 1 (December 2020): 38–41. http://dx.doi.org/10.1177/1071181320641012.

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Full-body, powered wearable exoskeletons combine the capabilities of machines and humans to maximize productivity. Powered exoskeletons can ease industrial workers in manipulating heavy loads in a manner that is difficult to automate. However, introduction of exoskeletons may result in unexpected work hazards, due to the mismatch between user-intended and executed actions thereby creating difficulties in sensing the physical operational envelope, need for increased clearance, and maneuverability limitations. To control such hazards, this paper presents a rearview human localization augmented reality (AR) platform to enhance spatial awareness of people behind the exoskeleton users. This platform leverages a computer vision algorithm called Monocular 3D Pedestrian Localization and Uncertainty Estimation (MonoLoco) for identifying humans and estimating their distance from a video camera feed and off-the-shelf AR goggles for visualizing the surrounding. Augmenting rear view awareness of humans can help exoskeleton users to avoid accidental collisions that can lead to severe injuries.
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Saypulaev, G. R., M. R. Saypulaev, I. V. Merkuryev, B. I. Adamov, and R. B. Garcia. "Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton." Advanced Engineering Research 22, no. 3 (October 12, 2022): 204–13. http://dx.doi.org/10.23947/2687-1653-2022-22-3-204-213.

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Introduction. The problem of controlling the lower-extremity powered exoskeleton motion was investigated. To solve it, it was proposed to use a program control and feedback control. The formation of control in the form of feedback required an assessment of the state of the exoskeleton (rotation angles, angular velocities, and accelerations of the links). The possibility of using an inertial measuring unit to estimate angular velocities and accelerations of exoskeleton links was considered. The work objective was to develop laws for the formation of the exoskeleton motion control, which could provide the stability of the program motion and use the measurements of encoders, micromechanical gyroscopes and accelerometers.Materials and Methods. Previously performed mathematical modeling of the exoskeleton dynamics was used to form a program control. It was proposed to equip the exoskeleton with inertial sensor units. This solution made it possible to evaluate the state vector of the exoskeleton and to use these estimates in a feedback loop. A mathematical model of measurements of these sensors was described. The proposed version is suitable for control systems of three-link exoskeletons of the lower extremities and can be expanded to the case of multi-link exoskeleton designs.Results. New laws of exoskeleton motion control based on a mathematical model of the system dynamics and using measurement information from encoders and inertial information sensors were proposed. Numerical simulation of exoskeleton motion was performed in the Wolfram Mathematica mathematical package. Its results confirmed the operability of the proposed control and the possibility of using an inertial sensor unit to assess the exoskeleton state. The numerical simulation results for the following program movements were presented: lifting the exoskeleton from a sitting position to a vertical position, and stabilization of the vertical equilibrium position.Discussion and Conclusions. The proposed control can be applied in exoskeletons for medical purposes, e.g., in the task of verticalization of patients with dysfunctions of the musculoskeletal system. The possibility of using measurement information obtained from inertial measurements units in the problem of estimating the state of exoskeleton links was demonstrated. The use of inertial sensors will make it possible to determine the angular acceleration of the exoskeleton links, avoiding numerical differentiation of the measurement information received from the encoders. The obtained estimates of angular acceleration allow us to introduce feedback on angular accelerations into the control system, which opens up the possibility of improving transients in controlling the exoskeleton motion.
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Dissertations / Theses on the topic "Powered Exoskeleton"

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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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Henderson, Gregory Clark. "Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/47624.

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A control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual control of mono-articular or bi-articular muscles to be exercised while not inhibiting the subject's range of motion. The control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the motion of the human knee by applying actuator forces in opposition to a specified muscle force profile. In this research, there is a discussion on the model of the human's lower body and how muscles are affected as a function of joint positions. Then it is discussed how to calculate for the forces needed by a pneumatic actuator to oppose the muscles to create the desired muscle force profile at a given joint angles. The proposed exoskeleton could be utilized either for rehabilitation purposes, to prevent muscle atrophy and bone loss of astronauts, or for muscle training in general.
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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.

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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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Briner, Hazel (Hazel Linn). "Design, prototyping and preliminary testing of an elastic-powered climbing exoskeleton." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/69504.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 24).
Human powered elastic mechanisms can be used to reduce work requirements of muscles, by storing and releasing energy to more evenly distribute work load. An exoskeleton was designed to delay human fatigue during rock climbing. This exoskeleton stores energy in the less intensive motion, extension while reaching upwards, and uses the stored energy in the more intensive motion, flexion during upwards ascent. A cuff 3D which will be printed by Objet Geometries Inc. utilizes Arthur Iberall's lines of non-extension to simultaneously maximize rigidity and comfort. Due to the inability of Objet's printed items to withstand the required high forces, a prototype climbing exoskeleton for the arm was fabricated from heat moldable plastic and latex springs. Pilot tests were conducted with the prototype and preliminary results were promising.
by Hazel Briner.
S.B.
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Fournier, Brandon. "Model and Characterization of a Passive Biomimetic Ankle for Lower Extremity Powered Exoskeleton." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37373.

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Lower extremity powered exoskeletons (LEPE) allow people with spinal cord injury (SCI) to perform activities of daily living, such as standing, walking, or stair and ramp ascent/descent. However, current LEPE walk slowly and require extensive use of forearm crutches to maintain user stability. Consequently, this limits LEPE time of use and overall system performance. While the biological ankle is known to be critical for energy efficiency, speed, and stability in able-bodied walking, current LEPE do not include biomimetic ankle designs and thus limit device performance. The objective of this thesis is to determine biomimetic ankle mechanics for a LEPE, thereby defining ankle design requirements that could reduce crutch loads and thus extend LEPE use. Virtual prototyping techniques were used to achieve this objective. Two 3D models of a real LEPE (ARKE, Bionik Laboratories) attached to a human musculoskeletal model were developed and validated. The first model (biomimetic model) was driven by 3D marker kinematics from 30 able-bodied participants walking at four realistically slow LEPE walking speeds. The second model (SCI model) was driven by 3D marker kinematics from five SCI participants walking in the ARKE LEPE with instrumented forearm crutches. Once the models were validated by comparing predicted to measured ground reaction forces (GRF) and centre of pressure (COP) trajectories, biomimetic LEPE ankle design requirements were determined. Ankle range of motion, quasi-stiffness, work, peak moment, and peak power were compared between human and human+ARKE models, across four gait phases and four slow walking speeds. The major findings were: the human+ARKE model had significantly different quasi-stiffness values across all four gait phases; quasi-stiffness increased with increasing speed; the human+ARKE model’s ankle always absorbed net-work, even at the fastest walking speed; quadratic regression was significantly more accurate than linear regression for modelling ankle quasi-stiffness. These results suggested that passive variable stiffness ankles incorporating quadratic elastic spring elements could achieve biomimetic ankle functions and thus potentially increase LEPE user walking speed, stability, and reduce overuse of crutches.
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Abolfathi, Peter Puya. "Development of an Instrumented and Powered Exoskeleton for the Rehabilitation of the Hand." Thesis, The University of Sydney, 2008. http://hdl.handle.net/2123/3690.

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With improvements in actuation technology and sensory systems, it is becoming increasingly feasible to create powered exoskeletal garments that can assist with the movement of human limbs. This class of robotics referred to as human-machine interfaces will one day be used for the rehabilitation of paralysed, damaged or weak upper and lower extremities. The focus of this project was the development of an exoskeletal interface for the rehabilitation of the hands. A novel sensor was designed for use in such a device. The sensor uses simple optical mechanisms centred on a spring to measure force and position simultaneously. In addition, the sensor introduces an elastic element between the actuator and its corresponding hand joint. This will allow series elastic actuation (SEA) to improve control and safely of the system. The Hand Rehabilitation Device requires multiple actuators. To stay within volume and weight constraints, it is therefore imperative to reduce the size, mass and efficiency of each actuator without losing power. A method was devised that allows small efficient actuating subunits to work together and produce a combined collective output. This work summation method was successfully implemented with Shape Memory Alloy (SMA) based actuators. The actuation, sensory, control system and human-machine interface concepts proposed were evaluated together using a single-joint electromechanical harness. This experimental setup was used with volunteer subjects to assess the potentials of a full-hand device to be used for therapy, assessment and function of the hand. The Rehabilitation Glove aims to bring significant new benefits for improving hand function, an important aspect of human independence. Furthermore, the developments in this project may one day be used for other parts of the body helping bring human-machine interface technology into the fields of rehabilitation and therapy.
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Abolfathi, Peter Puya. "Development of an Instrumented and Powered Exoskeleton for the Rehabilitation of the Hand." University of Sydney, 2008. http://hdl.handle.net/2123/3690.

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Doctor of Philosophy (PhD)
With improvements in actuation technology and sensory systems, it is becoming increasingly feasible to create powered exoskeletal garments that can assist with the movement of human limbs. This class of robotics referred to as human-machine interfaces will one day be used for the rehabilitation of paralysed, damaged or weak upper and lower extremities. The focus of this project was the development of an exoskeletal interface for the rehabilitation of the hands. A novel sensor was designed for use in such a device. The sensor uses simple optical mechanisms centred on a spring to measure force and position simultaneously. In addition, the sensor introduces an elastic element between the actuator and its corresponding hand joint. This will allow series elastic actuation (SEA) to improve control and safely of the system. The Hand Rehabilitation Device requires multiple actuators. To stay within volume and weight constraints, it is therefore imperative to reduce the size, mass and efficiency of each actuator without losing power. A method was devised that allows small efficient actuating subunits to work together and produce a combined collective output. This work summation method was successfully implemented with Shape Memory Alloy (SMA) based actuators. The actuation, sensory, control system and human-machine interface concepts proposed were evaluated together using a single-joint electromechanical harness. This experimental setup was used with volunteer subjects to assess the potentials of a full-hand device to be used for therapy, assessment and function of the hand. The Rehabilitation Glove aims to bring significant new benefits for improving hand function, an important aspect of human independence. Furthermore, the developments in this project may one day be used for other parts of the body helping bring human-machine interface technology into the fields of rehabilitation and therapy.
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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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Tomeček, Michal. "Konstrukční návrh hydraulického systému robotického exoskeletonu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-449718.

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The main goal of this diploma thesis is to design a hydraulic system for robotic exoskeleton actuation. In the first part of the thesis a list of available sources of exoskeleton designs, is presented, followed by a thorough systematic analysis of hydraulic system elements and their use for this application, is made. The second part of the thesis consists of the hydraulic system design, as well the mechanical design for the hydraulic system which is subsequently tested structurally in the Autodesk Inventor software. The last part of the thesis consists of risk analysis and critical evaluation of thesis‘ results.
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Perry, Joel C. "Design and development of a 7 degree-of-freedom powered exoskeleton for the upper limb /." Thesis, Connect to this title online; UW restricted, 2006. http://hdl.handle.net/1773/7077.

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Book chapters on the topic "Powered Exoskeleton"

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Lee, Kyuhwa, Dong Liu, Laetitia Perroud, Ricardo Chavarriaga, and José del R. Millán. "Endogenous Control of Powered Lower-Limb Exoskeleton." In Biosystems & Biorobotics, 115–19. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46532-6_19.

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Fleischer, Christian, and Günter Hommel. "Embedded Control System for a Powered Leg Exoskeleton." In Embedded Systems – Modeling, Technology, and Applications, 177–85. Dordrecht: Springer Netherlands, 2006. http://dx.doi.org/10.1007/1-4020-4933-1_19.

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Ramanujam, A., A. Spungen, P. Asselin, E. Garbarini, J. Augustine, S. Canton, P. Barrance, and G. F. Forrest. "Training Response to Longitudinal Powered Exoskeleton Training for SCI." In Biosystems & Biorobotics, 361–66. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46532-6_59.

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Somisetti, Kiran. "Design and Fabrication of Pneumatic-Powered Upper Body Exoskeleton." In Algorithms for Intelligent Systems, 375–83. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4893-6_33.

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Mikulski, Michał A. "Single DOF Powered Exoskeleton Control System, Algorithms and Signal Processing." In Advanced Technologies for Intelligent Systems of National Border Security, 45–55. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-31665-4_4.

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Yuan, Xiaoqing, Jiakun Zhang, Fujun Fang, Wendong Wang, Huimin Su, and Yaqing Xu. "Design of a Hybrid-Drive Upper Limb Powered Exoskeleton Robot." In Advances in Mechanical Design, 1523–36. Singapore: Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-7381-8_93.

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Toxiri, Stefano, Jesús Ortiz, Jawad Masood, Jorge Fernández, Luis A. Mateos, and Darwin G. Caldwell. "A Powered Low-Back Exoskeleton for Industrial Handling: Considerations on Controls." In Biosystems & Biorobotics, 287–91. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46532-6_47.

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Quan, Junyu, Hongwei Liu, Guodong Yan, Hao Li, and Zhe Zhao. "An IMU Based Real-Time Monitoring System for Powered Robotic Knee Exoskeleton." In Lecture Notes in Electrical Engineering, 269–77. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-6324-6_28.

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Arijit, Abhishek, Dilip Kumar Pratihar, and Rathindranath Maiti. "Study on Inverse Dynamics of Full-Body Powered Pseudo-Anthropomorphic Exoskeleton Using Neural Networks." In Hybrid Intelligent Systems, 295–305. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-27221-4_25.

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Russo, Debora, Emilia Ambrosini, Stefano Arrigoni, Francesco Braghin, and Alessandra Pedrocchi. "Design and Modeling of a Joystick Control Scheme for an Upper Limb Powered Exoskeleton." In XIV Mediterranean Conference on Medical and Biological Engineering and Computing 2016, 649–52. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32703-7_125.

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Conference papers on the topic "Powered Exoskeleton"

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King, Katelyn, Sarah Gonzalez, and Leia Stirling. "Assessing the Effect of a Powered Ankle Exoskeleton on Human Agility with Inertial Measurement Units." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1001476.

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Human agility describes the capacity to quickly adjust body movements in response to the environment. This study quantifies agility through performance on 0º, 45º, 90º, and 180º turns on an outdoor agility course. Participants (n=17) walked the course while wearing an ankle exoskeleton in powered and unpowered states, and their own shoes before and after the exoskeleton trials. Agility was quantified using Inertial Measurement Units placed on the feet. All metrics varied significantly with turn type and exhibited larger effect sizes than with changes in condition. Stride duration moderately increased in both exoskeleton conditions on 0º, 45º, and 90º turns. On 180º turns, the unpowered exoskeleton moderately decreased radial acceleration while the powered exoskeleton moderately increased speed and tangential acceleration. The results suggest that the evaluated ankle exoskeleton would be unobtrusive for similar healthy young users in their daily environments. The methods propose a framework for further study of exoskeletons and agility in a broader set of users with additional exoskeleton systems.
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Tung, Wayne Yi-Wei, Michael McKinley, Minerva V. Pillai, Jason Reid, and Homayoon Kazerooni. "Design of a Minimally Actuated Medical Exoskeleton With Mechanical Swing-Phase Gait Generation and Sit-Stand Assistance." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-4038.

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Lower-extremity powered exoskeletons have traditionally used four to ten powered degrees of freedom to provide gait assistance for individuals with spinal cord injury (SCI). Systems with numerous high-impedance powered degrees of freedom commonly suffer from cumbersome walking dynamics and decreased utility due to added weight and increased control complexity. We propose a new approach to powered exoskeleton design that minimizes actuation and control complexity by embedding intelligence into the hardware. This paper describes a minimalistic system that uses a single motor for each exoskeleton leg in conjunction with a bio-inspired hip-knee coupling mechanism to enable users to walk, sit, and stand. Operating in concert with a custom orthotic knee joint, the exoskeleton hip joint has been designed to mimic the biarticular coupling of human leg muscles thus allowing a single actuator to power both hip and knee motions simultaneously. The implementation of this design resulted in a system that provides comparable performance to existing exoskeletons. This system has been tested on paraplegic subjects and has successfully enabled patients to stand up, sit down, and ambulate in numerous real world situations.
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Brown, Emily, Yusra Farhat Ullah, Kimberly Gustafson, and William Durfee. "Preliminary Design of Musclae-Powered Exoskeleton for Users with Spinal Cord Injury." In 2022 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/dmd2022-1013.

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Abstract The exercise methods available to individuals with spinal cord injuries are limited, increasing their risk of pressure sores, muscle atrophy, diminished bone strength, and diminished blood flow efficiency. The FES Energy Storing Exoskeleton combines the simplicity of a passive exoskeleton with functional electrical stimulation of the quadriceps muscles, enabling the user to stand and walk using their own muscles. To reduce muscle fatigue, the initial energy supplied by FES is supplemented by gas springs for energy storage and bidirectional clutch mechanisms for joint locking and control. Gas springs have superior energy storage qualities over pneumatic cylinders and elastomer bands due to their high energy-to-weight ratio and constant force properties. A qualitative analysis of joint locking mechanisms has suggested that a bidirectional clutch mechanism has the potential to overcome the sagging exhibited by the wrap springs used in previous versions of the exoskeleton. While the design of the novel clutch mechanism is the subject of a future work, the functionality and benefits of the mechanism are described in the context of the overall performance of the exoskeleton. The revised design is predicted to weigh 10.2 kg, which is 6.8 kg lighter than the previous exoskeleton design, and is significantly lighter than most commercial motorized walking exoskeletons. A detailed CAD model of the improved system has been developed and future work includes creating and validating a physical prototype.
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Naik, Prabhakar, Jayant Unde, Bhushan Darekar, and S. S. Ohol. "Pneumatic Artificial Muscle Powered Exoskeleton." In AIR 2019: Advances in Robotics 2019. New York, NY, USA: ACM, 2019. http://dx.doi.org/10.1145/3352593.3352627.

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Paredes, Victor, and Ayonga Hereid. "Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3170.

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Abstract Robotic lower-limb exoskeletons have the potentials to assist individuals with paraplegia to perform normal ambulatory functions and to provide exceptional health benefits. While modern-day hardware for exoskeletons is becoming more powerful, there are still significant challenges in implementing a practical exoskeleton motion control framework that helps paraplegic individuals to complete regular ambulatory tasks stably, safely, and efficiently without the use of arm-crutches. Inspired by the current development in dynamic walking controllers for a bipedal robot, this paper proposes a Hybrid Zero Dynamics (HZD) based control approach for powered lower-limb exoskeletons to achieve dynamic hand-free locomotion. Due to the unmodelled dynamics and exerted forces from the user upon the exoskeleton, the model-based approaches such as Hybrid Zero Dynamics struggles when implementing on the actual hardware. In this paper, we systematically formulate a virtual-constraints-based regulation framework in order to robustly stabilize the system around a stable periodic gait within the HZD framework. This regulator is then used to regulate the zero moment point (ZMP) to improve the lateral stability of the bipedal robot by indirectly regulating the center of mass (CoM) position of the exoskeleton due to the lack of available force sensors at the bottom of the feet. The proposed approach presents a general structure with which the virtual constraints can be heuristically regulated to satisfy the stability condition imposed by the ZMP criteria without compromising the hybrid invariance of the walking gaits. The effectiveness of the regulators was demonstrated through stable walking of a powered lower-limb exoskeleton in simulation and experimentation.
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Jeong, Yoon Jung, and Homayoon Kazerooni. "Design of Low Profile Actuators for Medical Exoskeletons." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-53182.

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Lower extremity exoskeletons augment ability of walking, sitting and standing upright with a pair of robotic legs that ambulates the user with mobility disorder. As a mobility aid, being lightweight and compact can highly increase usability by allowing users to navigate through narrow passages. This paper summarizes the design of low profile actuators designed for minimally actuated exoskeleton, a lightweight and low profile powered medical exoskeleton developed in Robotics and Human Engineering Laboratory at UC Berkeley. An analytical method for designing low profile BLDC actuation units, critical hardware design aspects, and initial performance measurements are discussed. A set of pancake DC actuation units was designed, manufactured, assembled, and integrated into a lower limb medical exoskeleton. This exoskeleton was tested by a male 28-year-old paraplegic test pilot with injury level of T12.
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Ekkelenkamp, R., J. Veneman, and H. van der Kooij. "LOPES: a lower extremity powered exoskeleton." In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.363952.

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Zoss, Adam, and H. Kazerooni. "Architecture and Hydraulics of a Lower Extremity Exoskeleton." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-80129.

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Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.
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Pawar, Manthan V., S. S. Ohol, and Ashutosh Patil. "Modelling and Development of Compressed Air Powered Human Exoskeleton Suit Human Exoskeleton." In 2018 7th International Conference on Reliability, Infocom Technologies and Optimization (Trends and Future Directions) (ICRITO). IEEE, 2018. http://dx.doi.org/10.1109/icrito.2018.8748797.

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Song, Guangkui, Rui Huang, Zhinan Peng, Kecheng Shi, Long Zhang, Rong He, Jing Qiu, Huayi Zhan, and Hong Cheng. "Human-exoskeleton Cooperative Balance Strategy for a Human-powered Augmentation Lower Exoskeleton." In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2022. http://dx.doi.org/10.1109/iros47612.2022.9981568.

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Reports on the topic "Powered Exoskeleton"

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

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