Dissertations / Theses on the topic 'Powered Exoskeleton'
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1
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.
2
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.
4
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.
5
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.
8
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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Laubscher, Curt A. "Design and Development of a Powered Pediatric Lower-Limb Orthosis." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396.
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Singer, Mathew Kyle. "Self powered wrist extension orthosis." Thesis, University of Canterbury. Mechanical Engineering, 2006. http://hdl.handle.net/10092/1154.
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One of the most devastating effects of tetraplegia is the inability to grasp and manipulate everyday objects necessary to living an independent life. Currently surgery is widely accepted as the solution to improve hand functionality. However, surgery becomes difficult when the user has paralysed wrists as is the case with C5 tetraplegia. The aim of this research was to develop a solution which provided controlled wrist flexion and extension which, when combined with surgery, achieves a 'key pinch' grip. This particular grip is critically important for people with C5 tetraplegia as it is used for countless grasping activities, necessary on a day-to-day basis. A systematic design process was used to evolve the solution to provide controlled wrist flexion and extension. Concept brainstorming identified four alternative solutions which were evaluated to find the preferred concept. The chosen solution was called the Self Powered Wrist Extension Orthosis, more commonly referred to as the 'orthosis'. This concept contained a shoulder harness which provided both energy and control to the wrist harness, which in turn changed the wrist position. The orthosis was developed with the use of a mathematical model which theoretically predicted the functional performance by comparing the required force needed to move the wrist harness to the achievable force supplied by the user's shoulders. Using these parameters, the orthosis was optimized using the matlab Nelder-Mead algorithm which adjusted the wrist harness geometries to maximize the functional performance. A prototype was constructed and tested with the help of two participants who when combined, achieved an average of 18.5° of wrist rotation. The theoretical model however predicted an average range of motion of 28.4°. The discrepancy found between the theoretical and experimental result can be contributed to incorrect assumptions in the theoretical model. This included unaccounted friction and inaccurate modeling of the orthosis dynamics. The feedback from potential users of the orthosis was enthusiastic and encouraging especially towards the simplicity, usability and practicality of the design.
13
Murillo, Jaime. "Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24104.
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Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life.
This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.
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Erol, Umit Levent. "DEVELOPMENT OF A LOWER EXTREMITY EXOSKELETON POWER UNIT." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1619385500249639.
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Abolfathi, Puya Peter. "Development of an instrumented and powered exoskeletion for the rehabilitation of the hand." Connect to full text, 2007. http://ses.library.usyd.edu.au/handle/2123/3690.
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Thesis (Ph. D.)--University of Sydney, 2008.Includes graphs and tables. Includes list of publications co-authored with others. Title from title screen (viewed November 28, 2008) Submitted in fulfilment of the requirements for the degree of Doctor of Philosophy to the School of Aerospace, Mechanical and Mechatronic Engineering, Faculty of Engineering and Information Technologies. Degree awarded 2008; thesis submitted 2007. Includes bibliographical references. Also available in print form.
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Connerton, Michael J. "DEVELOPMENT OF A PLANETARY STYLE POWER UNIT FOR A LOWER EXTREMITY EXOSKELETON." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1560270030843062.
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Viennet, Emmanuel, and Loïc Bouchardy. "Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71229.
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The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/- 20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle.
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condoor, Punith. "Evaluation Of Impedance Control On A Powered Hip Exoskeleton." 2017. https://scholarworks.umass.edu/masters_theses_2/571.
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This thesis presents an impedance control strategy for a novel powered hip exoskeleton designed to provide partial assistance and leverage the dynamics of human gait. The control strategy is based on impedance control and provides the user assistance as needed which is determined by the user’s interaction with the exoskeleton. A series elastic element is used to drive the exoskeleton and measures the interaction torque between the user and the device. The device operates in two modes. Free mode is a low impedance state that attempts to provide no assistance. Assist mode increases the gains of the controller to provide assistance as needed. The device was tested on five healthy subjects, and the resulting assistive hip torque was evaluated to determine the ability of the controller to provide gait assistance. The device was evaluated at different speeds to assess the gait speed adaptation performance of the controller. Results show that hip torque assistance range was between 0.3 to 0.5 Nm/kg across the subjects, corresponding to 24% to 40% of the maximum hip torque requirements of healthy adults during walking. The peak power provided by the system is 35 W on average and a peak power of up to 45 W.
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Ryder, Matthew C. "A CONTINOUS ROTARY ACTUATION MECHANISM FOR A POWERED HIP EXOSKELETON." 2015. https://scholarworks.umass.edu/masters_theses_2/242.
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This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque can be reduced using this mechanism, potentially allowing a less powerful motor to be used. Furthermore, the motor never needs to reverse direction even when the hip joint does. Preliminary testing shows the exoskeleton can provide an assistive torque and is capable of accurate position tracking at speeds covering the range of human walking. This thesis provides a detailed analysis of how the dynamic nature of human walking can be leveraged, how the hip actuator was designed, and shows how the exoskeleton performed during preliminary human trials.
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Bajelan, Soheil. "Biomechanical design and evaluation of a Self-Powered Ankle Exoskeleton." Thesis, 2020. https://vuir.vu.edu.au/44577/.
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Hsiao, Sheng-Chang, and 蕭聖昌. "Voluntary Motion Support Control of a Powered Exoskeleton for Patients with Hemiplegia." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/26714433763585232071.
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碩士國立中興大學
電機工程學系所
100
This thesis presents methodologies and techniques for mechatronic system design, robust torque control and voluntary motion support control of a one-leg lower limb power exoskeleton for patients with hemiplegia. The designed one-leg power exoskeleton is equipped with two flat brushless DC motors and two potential meters respectively mounted on hip and knee joints, one set of EMG sensors together with their signal processing circuits, and one notebook computer with appropriate analog-to-digital convertors (ADCs) and digital outputs. Applied ergonomics is employed to design a comfortable range of active angles in both hip and knee joints, thereby implementing this pragmatic wearable power assistant unit. A robust torque controller is synthesized by integrating a pre-filter used to achieve almost deadbeat performance, and a proportional-derivative (PD) controller whose two gains are obtained using a linear quadratic regulation (LQR) approach. The voluntary motion support controller uses the measured EMG signals and current hip and knee joint angles to provide appropriate torques for both DC motors. Computer simulation and experimental data are conducted to illustrate the feasibility and practicality of the proposed methods and techniques. Keywords：Applied Ergonomics, torque Control, EMG, Hemiplegia, Patients,Powered-Exoskeleton, voluntary motion support-control.
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Babu, Saravana Prashanth Murali, and 巴. 神. 樂. "Multi-Sensing Intention Prediction of a Human Wearing a Powered Lower Limb Exoskeleton." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/f33uya.
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碩士國立交通大學
電機資訊國際學程
106
We propose an exoskeleton’s intention prediction method for adaptive learning of assistive joint torque profiles in periodic tasks. Assistive devices, like exoskeletons or prosthesis, often make use of physiological data that allow the detection or prediction of movement onset. Movement onset can be detected at the executing site, the skeletal muscles, by means of EMG or inertial sensors. The ultimate goal of the research is to detect and predict the human movement activity and orientation signaling an assistive joint torque behavior in a way that the movement activity of the exoskeleton system can be modified. An experimental investigation is carried out with the placement of IMU sensors at the lower limb positions to acquire the orientation, shift in the center of mass (COM) and the change in velocity of the human-robot interaction to know the muscle activity during human locomotion. Force sensors are placed at the bottom of the foot to acquire the center of pressure (COP) and the ground reaction force (GRF) in alignment to exoskeleton and human locomotion. Based on the acquired data indigenous gait algorithm is built for the maximum possible walking patterns. Our proposed learning system uses GAIT algorithm as a trajectory generator, and parameters of GAIT are modulated using linear regression. Then, in the future, the learning system will be combined with the dynamics of the human-robot structure to alter the desired dynamics as the final command to the main controller. The advantage of the proposed method is that it does not require specific biomechanical models as the system can adapt itself to predict the intention of the user to have efficient human robot interaction between the human and exoskeleton robot.
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Sampaio, Francisco António Braga. "Low-Cost Simultaneous and Proportional Myoelectric Control of Powered Upper Limb Exoskeletons." Master's thesis, 2021. https://hdl.handle.net/10216/133428.
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Sampaio, Francisco António Braga. "Low-Cost Simultaneous and Proportional Myoelectric Control of Powered Upper Limb Exoskeletons." Dissertação, 2021. https://hdl.handle.net/10216/133428.
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HUANG, YU-SHENG, and 黃宇聖. "Application of Interview Method for the Design of Assistive Device — Power-Assisted Exoskeleton for Caregivers as an Example." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/76ja36.
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碩士國立高雄科技大學
創新設計工程系
107
The world's population aged 65 and over will reach a peak after 2020 (one elderly person in every five). According to the statistics from the Ministry of the Interior, R.O.C., those aged 65 in Taiwan exceeded 14.1% of its total population in April 2018, and so the country has officially become an aging society. It is estimated that Taiwan will be a super-aged society in 2026 (when those aged 65 account for 20% of its total population) (Ministry of the Interior, R.O.C., 2018). Due to low birth rates in most developed countries and regions, the population structure is aging day by day. In response to the rapid growth of the aging population, the burden on caregivers is gradually increasing, and even supply exceeds demand (Taiwan Association of Family Caregivers, 2018). Caregivers include physiotherapists, nurses, foreign domestic helpers, etc., who cover working groups that need to work a long time under physical exertion. In the care process, some movement or work injuries may jointly affect the services of the caregivers negatively and may even cause lifelong old injuries. An exoskeleton robot is one way for caregivers to reduce movement injuries. Therefore, power-assisted exoskeleton could become an important assistive device for caregivers in the future. The purpose of this study is to learn about the main points and ideas of caregivers when choosing exoskeleton robots and to solve and improve them so that caregivers can accept this technology product in the future. This study selected physiotherapists with a medical knowledge background as potential users. Through interviews and questionnaires with 60 potential users and 4 experts, we collected and evaluated the data by using a semi-structured questionnaire interview method. Next, we obtained the design guidelines of the new exoskeleton device, which could increase the acceptance of the product for potential users. Its design guidelines are as follows. (1) Reduce potential user population: decrease the potential user population from the physical therapist population to the physical therapist in the therapeutic room. (2) Appearance is the key factor: users who wear exoskeleton devices do not want themselves to be different from ordinary people in their appearance, and so the key factor of the product design is whether its appearance can meet users’ psychological requirements. (3) It is particularly important to assist in speeding up walking: if the device can help users save energy, then it will greatly enhance the speeding up of walking and the increase in work efficiency, thus improving users' willingness to buy. (4) Legs are the best accessory parts. The rationality of the concept draft is tested through prototyping, in addition to discussion with experts and modification, to complete the final refined model, which is then tested by experts and potential customer to perform a post test, thereby identifying whether or not the original design goal and guidelines are achieved. From the results of the post- test, this product can achieve the expected goal after the post-test performed by the experts and potential customer.
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Yang, Chun Tang, and 楊鈞棠. "Development and Clinical Applications of Knee Joint Load Redistribution and Motor Control Enhancement Lower Limb Orthosis with Exoskeleton and Power Assisted System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/61411537007868461481.
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碩士長庚大學
醫療機電工程研究所
98
The patients with knee osteoarthritis have some symptoms: pain, joint stiffness, range of motion decreasing, lower limb muscle weakness and have slower walking speed. These symptoms would affect the patients’ gait pattern and the ability for executing functional activities. Costigan reported the load of knee joint during stair climbing was 3~6 times than level walking, makes the patients more painful when climbing stairs. The patients with knee osteoarthritis have impair proprioception because of muscle weakness, poor coordination, impair mechanical receptors makes the patients couldn’t rise their leg appropriate. It is a risk factor for climbing stairs. Knee joint load redistribution and motor control enhancement lower limb orthosis with exoskeleton and power assisted system was developed to solve the problem have mentioned. First, develop the exoskeleton for knee joint load redistribution. We used SolidWorks to design the structure. It is composed of a Pneumatic cylinder, a air reservoir and a degassing valve. When we flexed our knee joint, it would compressed the piston in air cylinder and the air in the system would flow into the air reservoir. When the limit switch was triggered, the degassing valve was closed and the air store in the air reservoir. We also produced a insole with flexiforce sensor, it can measure our foot pressure when climbing stairs. When we wear the lower limb orthosis to climb stairs, if the foot pressure over the threshold, the degassing valve will be open and the air stored in the air reservoir released, offer a assisted power to resist our weight to reduce the knee joint load. The power assisted controller consist of AT89S52 MCU module, ADC module, relay control module, real-time system status display module, Power supply regulator module and RS232 Asynchronous serial transmission module. Second, we developed the motor control enhancement and proprioception training system. First we produce a portable knee angle measuring device. By using a variable resistor, we can get variable voltage when the knee moved, and we can know the knee joint angle by the variable voltage after calibration. Second, we design the game for training proprioception by using MATLAB. The interface consists of user data management module and visual feedback interactive game module. We can record the subjects’ name, sex, age, affected side and ROM by the user data management module. The game is that computer designate a angle randomly, and the subject have to flexes their knee at the appropriate site in time. We examine the system validity contrast Zebris. The measured accuracy error is -0.80%~2.59%. Finally, we execute clinical tests to examine the knee joint load redistribution effect and after wearing the lower limb orthosis have developed and effect of proprioception training program. We recruited 10 normal subject age: 25.2±1.64, height: 171.2±4.80 cm, weight: 70.4±10.13 kg, perform climb 5 stairs task and squatting. We measured EMG of rectus femoris, vastus lateralis and vastus medialis to examine the muscle activity. We also measure the foot pressure by force platform to examine the weight bearing ability. Paired-Samples T test shows the rectus femoris, vastus lateralis and vastus medialis muscle aactivity while perform climb stairs and vastus medialis muscle activity while squatting had significant decrease (P< 0.05); right side weight bearing ability had had significant increase(P< 0.05). Proprioceptive reposition accuracy had significant decrease (P< 0.05). Knee joint load redistribution and motor control enhancement lower limb orthosis with exoskeleton and power assisted system provide knee OA patient a new orthosis to decrease the knee load while climbing stairs and squatting. And the motor control enhance and Proprioceptive training system provide a interesting training program to improve knee OA patients’ proprioception and motor control.