Download or read book A Leg Exoskeleton Simulator for Design Sensing and Control Development written by Jiun-Yih Kuan and published by . This book was released on 2018 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Leg exoskeletons have been developed in an effort to augment human locomotion for over a century. However, only two portable leg exoskeletal devices have shown a significant decrease in walking metabolism [35, 11], not to mention, no device that has shown effective assistance and biomimetic behavior across different walking speeds and terrains. This thesis aims to build a Leg Exoskeleton Simulator to effectively search the space of potential prosthetic and orthotic design, control, and sensing strategies so as to find the best means to improve human locomotion through wearable electromechanical technology and modern bionics, enabling rapid advancement of the human-machine interface. This thesis presents the MIT Exoskeleton Simulator, which is a modular tethered system that includes cable-drive mechanisms along with off-board power, actuation, control hardware, and wearable end-effector modules. In order to effectively transmit force to a wearable end-effector module, high-performance cable-drive modules with the Rolling Cable Transmission for both unidirectional actuation and bidirectional actuation were developed. A new Adaptive Coupling Joint design principle was proposed for designing a simple mechanical interface that can transmit pure torque from an input actuation source to any biological joint without altering the biological joint motions. The Simulator has been controlled with a bio-inspired control based controller that emulates the behavior of human morphology and neural control for the non-amputee participants. In this thesis, I tried to provide a base of knowledge regarding effective design, control, and sensing strategies for effective human augmentation. In the near future, more criteria can be further established for building effective leg exoskeletons that will improve the ambulatory speed, metabolic economy, and stability of walking humans. The Simulator could potentially enhance the ambulation of able-bodied persons or individuals with movement pathology, as well as providing the treatment or relief of gait dysfunction resulting from movement pathology, or restoration of age-related reduced locomotory function.

Download or read book Wearable Exoskeleton Systems written by Shaoping Bai and published by Control, Robotics and Sensors. This book was released on 2018 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc. In this book, the editors and authors report recent advances and technology breakthroughs in exoskeleton developments. It will be of interest to engineers and researchers in academia and industry as well as manufacturing companies interested in developing new markets in wearable exoskeleton robotics.

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Design and Control of a Lower limb Exoskeleton Emulator for Accelerated Development of Gait Exoskeletons written by Kyle B. Heer and published by . This book was released on 2017 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Designing Exoskeletons written by Luis Adrian Zuñiga-Aviles and published by CRC Press. This book was released on 2024-03-27 with total page 355 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designing Exoskeletons focuses on developing exoskeletons, following the lifecycle of an exoskeleton from design to manufacture. It demonstrates how modern technologies can be used at every stage of the process, such as design methodologies, CAD/CAE/CAM software, rapid prototyping, test benches, materials, heat and surface treatments, and manufacturing processes. Several case studies are presented to provide detailed considerations on developing specific topics. Exoskeletons are designed to provide work-power, rehabilitation, and assistive training to sports and military applications. Beginning with a review of the history of exoskeletons from ancient to modern times, the book builds on this by mapping out recent innovations and state-of-the-art technologies that utilize advanced exoskeleton design. Presenting a comprehensive guide to computer design tools used by bioengineers, the book demonstrates the capabilities of modern software at all stages of the process, looking at computer-aided design, manufacturing, and engineering. It also details the materials used to create exoskeletons, notably steels, engineering polymers, composites, and emerging materials. Manufacturing processes, both conventional and unconventional are discussed—for example, casting, powder metallurgy, additive manufacturing, and heat and surface treatments. This book is essential reading for those in the field of exoskeletons, such as designers, workers in research and development, engineering and design students, and those interested in robotics applied to medical devices.

Download or read book Exoskeletons in Rehabilitation Robotics written by Eduardo Rocon and published by Springer. This book was released on 2011-02-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.

Download or read book Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton written by Yuehong Yin and published by CRC Press. This book was released on 2019-09-05 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on skeletal muscle biomechanical model, and SMA-based bionic skeletal muscle technology. This comprehensive and in-depth book presents the author's research experience and achievements of many years to readers in an effort to promote academic exchanges in this field. About the Author Yuehong Yin received his B.E. , M.S. and Ph.D. degrees from Nanjing University of Aeronautics and Astronautics, Nanjing, in 1990, 1995 and 1997, respectively, all in mechanical engineering. From December 1997 to December 1999, he was a Postdoctoral Fellow with Zhejiang University, Hangzhou, China, where he became an Associate Professor in July 1999. Since December 1999, he has been with the Robotics Institute, Shanghai Jiao Tong University, Shanghai, China, where he became a Professor and a Tenure Professor in December 2005 and January 2016, respectively. His research interests include robotics, force control, exoskeleton robot, molecular motor, artificial limb, robotic assembly, reconfigurable assembly system, and augmented reality. Dr. Yin is a fellow of the International Academy of Production Engineering (CIRP).

Download or read book Design and Implementation of a Robotic Lower Limb Exoskeleton written by Jared Mednick and published by . This book was released on 2011 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Development Simulation and Test of Nonlinear Control Strategies for the Active Leg Exoskeleton ALEX written by Alexander Kulpe and published by . This book was released on 2006 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Erkrankungen des Nervensystems wie ein Schlaganfall beeinträchtigen die Fortbewegung der betroffenen Personen. Ein typisches Symptom ist Hemiplegie, eine halbseitige Lähmung des Körpers. In der Rehabilitation trägt Physiotherapie entscheidend dazu bei, das Gangbild der Patienten zu verbessern. Kernstück dabei ist die wiederholte Bewegung des betroffenen Beines in einem gewünschten Muster, um die gelähmten Muskeln zu stimulieren. Aufgrund der Vorteile gegenüber konventioneller manueller Therapie wurde in den vergangenen Jahren die orthesengestützte Rehabilitation gebräuchlicher. So entlasten Orthesen die Therapeuten von physischer Anstrengung und ermöglichen ein reproduzierbares, genau steuerbares Patiententraining bei effektiver Kostengestaltung. Sensoren erlauben die Quantifizierung des Trainingsfortschritts. Zurzeit konzentriert sich die Forschung auf aktive Orthesen, die mittels Aktuatoren die Bewegung des Patienten aktiv unterstützen. Bereits erhältliche Geräte beschränken den Nutzer jedoch auf vorbestimmte Bewegungsmuster und erlauben keine selbst kontrollierte Bewegung, die allerdings für den Erfolg der Therapie entscheidend ist. - Diese Arbeit befasst sich mit der Entwicklung von Regelungsstrategien für das Aktive Bein-Exoskelett ALEX, um das Zusammenspiel des Exoskeletts mit dem Patienten zu verbessern, so dass der Therapieerfolg gesteigert wird. Das dynamische Verhalten des Systems wird mittels der Euler-Lagrange- sowie der Newton-Euler-Gleichungen beschrieben. Anschließend werden Regelungen mit Hilfe der linearisierenden Rückführung entworfen. Simulationen und Versuche wurden mit dem Trajektorien-PD-Regler sowie dem Arbeitspunkt-PD-Regler durchgeführt. Darüber hinaus definiert der Arbeitspunkt-PD-Regler mit Tangentialkraft ein Band entlang der gewünschten Trajektorie, in dem primär der Patient seine Bewegungen kontrolliert. Die Reibungskompensation wird mittels eines modellbasierten sowie eines sensorbasierten Ansatzes untersucht. Schließlich wird der Kraftfeld-Regler vorgestellt, der einen virtuellen Tunnel entlang der gewünschten Trajektorie erzeugt. Dieser Tunnel erlaubt eine nutzergesteuerte Bewegung, bei der gleichzeitig das gewünschte Gangbild eingehalten wird. Es werden Simulationen und Versuche mit einem Dummy-Bein sowie mit gesunden Personen präsentiert. Die Stabilität des Kraftfeldes wird unter Zuhilfenahme der Ljapunov-Theorie untersucht.

Download or read book Design and Motion Control of a Lower Limb Robotic Exoskeleton written by Ümit Önen and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter presents the results of research work on design, actuator selection and motion control of a lower extremity exoskeleton developed to provide legged mobility to spinal cord injured (SCI) individuals. The exoskeleton has two degrees of freedom per leg. Hip and knee joints are actuated in the sagittal plane by using DC servomotors. Additional effort supplied by user's arms through crutches is defined as user support rate (USR). Experimentally determined USR values are considered in actuator torque computations for achieving a realistic actuator selection. A custom-embedded system is used to control exoskeleton. Reference joint trajectories are determined by using clinical gait analysis (CGA). Three-loop cascade controllers with current, velocity and position feedback are designed for controlling the joint motions of the exoskeleton. A non-linear ARX model is used to determine controller parameters. Overall performance and an assistive effect of WSE-2 are experimentally investigated by conducting tests with a paraplegic patient with T10 complete injury.

Download or read book Simulating Exoskeletons to Assist Walking written by Nicholas August Bianco and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable robotic exoskeletons provide a promising opportunity to improve human mobility. Recent advances in assistive technology have produced reductions in energy cost of walking, but exoskeleton design can often be a time-consuming and unintuitive process. Musculoskeletal simulation is a promising approach for speeding device design by revealing how exoskeleton assistance affects muscle behavior and alters walking motions. However, few studies have yet to effectively utilize simulations for device design, and simulation pipelines are often difficult to recreate and share. This dissertation work includes three projects aimed at developing better simulation tools and using them to design exoskeleton assistance. First, my labmate Chris Dembia and I created OpenSim Moco, a flexible software package that makes it easy to create simulations for biomechanics research using optimal control. Second, I used simulations to show that exoskeletons that assist multiple joints can effectively reduce the metabolic cost of walking using a simplified control strategy. Finally, I used simulations to reveal how exoskeleton torques affect the motion of the center of mass during walking. This work can be used by designers to make informed decisions when developing exoskeleton devices to reduce metabolic cost or improve walking stability. The simulations and software I created are freely available for other researchers to build upon and to accelerate future work.

Download or read book Force Control Theory and Method of Human Load Carrying Exoskeleton Suit written by Zhiyong Yang and published by Springer. This book was released on 2017-04-06 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest advances in concepts and further development of principal component analysis (PCA), discussing in detail a number of open problems related to dimensional reduction techniques and their extensions. It brings together research findings, previously scattered throughout many scientific journal papers worldwide, and presents them in a methodologically unified form. Offering vital insights into the subject matter in self-contained chapters that balance the theory and concrete applications, and focusing on open problems, it is essential reading for all researchers and practitioners with an interest in PCA

Download or read book Design and Operation of Human Locomotion Systems written by Marco Cecarelli and published by Academic Press. This book was released on 2019-09-10 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems

Download or read book Control Strategies for Robotic Exoskeletons to Assist Post Stroke Hemiparetic Gait written by Julio Salvador Lora Millán and published by Springer Nature. This book was released on with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Prospective Review written by and published by . This book was released on 1847 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Control for Upper Limb Exoskeleton Robot Simulator written by and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book System Innovation for a World in Transition written by Artde Donald Kin-Tak Lam and published by CRC Press. This book was released on 2023-12-27 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: System Innovation for a World in Transition: Applied System Innovation IX, includes the contributions presented at the IEEE 9th International Conference on Applied System Innovation (ICASI 2023, Chiba, Japan, 21-25 April 2023). The conference received more than 600 submitted papers from 12 different countries, whereby roughly one quarter of these papers was selected to present at ICASI 2023. The book aims to provide an integrated communication platform for researchers from a wide range of topics including information technology, communication science, applied mathematics, computer science, advanced material science, and engineering. Hopefully, it will enhance interdisciplinary collaborations between science and engineering technologists in the fields of academics and related industries.