Download or read book Augmenting Elderly Mobility with Lower Limb Assistive Exoskeleton written by Ghasaq Al Rezage and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design and Control of Lower Limb Assistive Exoskeleton for Hemiplegia Mobility written by Abdullah Alshatti and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Download or read book An Exoskeleton Robotic Walker to Assist the Elderly written by and published by . This book was released on 2017 with total page 55 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is known that mobility and disability problems tend to increase within the elderly population. Often when these problems arise, the elderly develop a need for a mobility assistive device. These assistive devices can be crutches, canes, or walkers. These devices are used to improve the patient’s balance, increase activity, increase the patient’s support base, and independence. These devices have significant aspects to them, but they also come with substantial musculoskeletal and metabolic demands. Patients with low stability, poor balance, and weakness in the lower extremities benefit significantly from because walkers primarily aim at improving stability, balance, and help support the lower extremities. It is known that patients that use assistive devices are reported to have improved confidence, lower depression, a heightened sense of safety which leads to higher levels of activity and more independence. This paper describes the development of a robotic walker that uses inertial measurement units to map the gait cycle of a patient that then utilizes that information to aid in the movement of the defected leg using a closed loop control system. The robotic system consists of a walker, a leg brace, a controller, gyroscopes for input, absolute encoders for feedback, a pneumatic linear actuator for the knee motion, and a DC servo motor for the ankle motion. The knee portion of the system is designed to be compliant and passive, meaning that the system does not force the movement of the patient’s leg. Instead, it nudges the patient's leg through the gait cycle. The ankle portion of the system is meant to allow the foot to go through the entire gait cycle including kickoff. However, the ankle portion also ensures that the toe does not drag on the floor during the gait cycle by moving the foot upward as the entire leg goes through the gait cycle.
Download or read book Control Methods for Improving Mobility for Persons with Lower Limb Paralysis written by Andrew Ekelem and published by . This book was released on 2018 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Development of a Lightweight and High Strength Underactuated Lower Limb Robot Exoskeleton for Gait Rehabilitation written by Fahad Hussain and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robot-assisted physical rehabilitation and robotics technology for providing support to the elderly population is rapidly evolving. Lower limb robot aided rehabilitation and assistive technology have been a focus for the engineering community over the last three decades as several robotic lower limb exoskeletons have been proposed in the literature as well as some being commercially available. One of the most important aspects of developing exoskeletons is the selection of the appropriate material. Strength to weight ratio is the most important factor to be considered before selection of a manufacturing material. The material selection strongly influences the overall weight and performance of the exoskeleton robot. In addition to material selection the type of mechanism and the actuation strongly effect the overall weight of the lower limb robotic exoskeleton. Most of the lower limb exoskeleton provided in the literature use a parallel mechanism, are properly actuated and either use aluminium or steel as their manufacturing materials. All these factors significantly increase the weight of the lower limb robot exoskeleton and make the device heavy, bulky, and uncomfortable for the wearer. Furthermore, an increase in weight contributes to a decrease of energy efficiency, reduces the energy efficiency of the final product, and increase the running cost of the designed robot devices. This thesis explores the wide-ranging potential of lower limb robot exoskeletons in the context of physical rehabilitation. Implementation and testing of a lightweight and high strength material without effecting the reliability was the main research objective of the present work. In this research, a linkage based under-actuated mechanism was used for the development of a lightweight design. Structural and mechanical load analysis of the mechanism was performed by using an advanced approach of finite element analysis. Three materials, namely structural steel, aluminium, and carbon reinforced fibre were compared as the manufacturing materials of the modelled mechanism. After that, a weight estimation was carried out for all three materials and the material which exhibits the best response under mechanical load analysis was selected. From the weight comparison, the carbon reinforced fibre provided the least weight for the digital twin of a lower limb exoskeleton. After material selection, the next step was the topology optimisation to further decrease the mass of the designed prototype without effecting the mechanical performance. The optimisation was carried out by using a multi-mode single objective genetic algorithm (GA) and a reduction of 30 % in the weight of the designed prototype was obtained. The selected material, which is carbon fibre, is a type of polymer material that is highly anisotropic, meaning it shows different material behaviour in different orientations of applied force. The next stage of the research work was the material characterization of the manufacturing material, which was carried out both analytically and experimentally. For defining the optimal criteria for fiber orientation, Hashin's Failure Criteria is considered, and experimental work is performed to determine the most suitable fibre orientation. The material monotonic tensile properties were experimentally determined by experimental work and used to select a suitable orientation to manufacture a physical prototype model of the lower limb robot exoskeleton. After that the manufacturing process was carried out which is divided into three main steps. The first step was the use of the suitable lightweight and high strength material, which was selected by weight comparison in the design stage. The second step was the use of a single actuator to actuate the whole mechanical system and the final step was the use fabrication method to get a strong and reliable structure. Shaping of the different exoskeleton parts was carried out by CNC milling and parts were assembled to build a robotic prototype. A DC motor was used to actuate the complete prototype, which includes hip, knee, and ankle joints. In the end, a reliability analysis was carried out by using a machine learning based approach. A machine learning framework was developed for time-dependent reliability analysis of the developed robot. A neural network algorithm was designed to estimate the time-dependent reliability of the joint displacement and the positions of the end-effector first. From the above methodology, a lightweight and high strength lower limb robot exoskeleton was just not only conceptualized but a significant work was done to get a physical model starting from the material selection and concluding with the fabrication of a physical prototype. The reliability analysis gives an overview of the mechanism safety as a function of joint displacement. The designed prototype of carbon reinforced fibre was four times lighter in weight as compared to steel and three times lighter than aluminium, which is expected to give the wearer a comfortable wearing experience and improves the overall physical rehabilitation experience for the patients.
Download or read book Advances In Cooperative Robotics Proceedings Of The 19th International Conference On Clawar 2016 written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2016-08-04 with total page 894 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies around the theme of cooperative robotics. The book contains peer reviewed articles presented at the CLAWAR 2016 conference. The book contains a strong stream of papers on multi-legged locomotion and cooperative robotics. There is also a strong collection of papers on human assistive devices, notably wearable exoskeletal and prosthetic devices, and personal care robots and mobility assistance devices designed to meet the growing challenges due to the global ageing society. Robot designs based on biological inspirations and ethical concerns and issues related to the design, development and deployment of robots are also strongly featured.
Download or read book Brain Controlled Lower Limb Exoskeleton Device for Mobility Regeneration written by Ganesh Roy and published by . This book was released on 2024-01-21 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The brain accompanies the main part of the human nervous system. Any activity which is performed by a human can be identified through the properties of the brain signal. Mainly, the electrical properties have been recorded using non-invasive and invasive ways. Broadly, measuring of brain signals is well-known as EEG (Electroencephalography). After using proper signal processing methods, the recorded brain signal can be classified for different performed activities. Nowadays, robots are helpful for human assistance by creating a new discipline of robotics known as 'assistive robotics'. The present work focuses on the integrated topics that correlate to the human brain with an assistive robotic device. The study based on the human population suggests that the number of aged people increases globally. The study also reports that the lower/upper limb disability is the major problem for stroke and physically injured patients. Under these circumstances, the assistive robotics field researchers are engaged with the improvement of the quality of life of those people who lost their power of mobility.
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 of Low Profile Modular Lower Extremity Exoskeletons written by YOON JUNG JEONG and published by . This book was released on 2014 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies have shown that walking for as little as 30 minutes of a day can improve overall health. However, more than 250,000 people in the United States are paralyzed due to spinal cord injuries (SCI), and can no longer walk without support. Most of the SCI patients rely on wheelchairs after their injuries, and suffer from secondary injuries caused by prolonged sitting. Moreover, the patients' reduced mobility often brings negative effects to their independence and social life. The primary research objective is to develop practical and effective exoskeleton technology that enables paralyzed individuals to achieve mobility and gain independence in their daily lives. In this dissertation, I discuss designs of low profile and modular exoskeletons, with an emphasis on different design attributes that increase device usability. A minimally-actuated medical exoskeleton was developed with powered hip joints and passive knee joints. The low profile actuation units used for this exoskeleton's hip actuation allowed the wearer to achieve propulsion and walk through narrow passageways. In fact, this exoskeleton became the first powered medical exoskeleton that weighs less than twenty pounds. This exoskeleton continued to evolve into a system with increased modularity that meets various user needs based on different physical conditions. The modular design allows easy customization via its versatile support level configurations for different individuals. As a part of this research, comprehensive user studies of these devices and the user interface were conducted to create a positive user experience and a comfortable link between the user and the exoskeleton. Paralyzed patients who participated in this study corroborated that the compact and lightweight design of the system enhances their mobility and maneuverability. The modularity in design opens assistive opportunities to various people, such as the elderly and other people with intact mobility. I expect that assistive exoskeleton technology will continue to advance and enhance the quality of life for a wide spectrum of communities in our aging society.
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 Mechanism Design for Robotics written by Marco Ceccarelli and published by MDPI. This book was released on 2019-06-21 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world. The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications. This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
Download or read book Locomotor Training written by Susan J. Harkema and published by . This book was released on 2011 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Physical rehabilitation for walking recovery after spinal cord injury is undergoing a paradigm shift. Therapy historically has focused on compensation for sensorimotor deficits after SCI using wheelchairs and bracing to achieve mobility. With locomotor training, the aim is to promote recovery via activation of the neuromuscular system below the level of the lesion. What basic scientists have shown us as the potential of the nervous system for plasticity, to learn, even after injury is being translated into a rehabilitation strategy by taking advantage of the intrinsic biology of the central nervous system. While spinal cord injury from basic and clinical perspectives was the gateway for developing locomotor training, its application has been extended to other populations with neurologic dysfunction resulting in loss of walking or walking disability.
Download or read book Control Methods for Powered Assistive Devices for Individuals with Mobility Impairments written by Kevin H. Ha and published by . This book was released on 2015 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Assistive Robotics Proceedings Of The 18th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines Clawar 2015 written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2015-08-13 with total page 783 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies around the theme of assistive robotics. The book contains peer reviewed articles presented at the CLAWAR 2015 conference. The book contains a comprehensive collection of papers on legged locomotion with numbers of legs from two upward to multi-legs, which includes robots cable of climbing walls, poles, or more complex structures such as continuing the distinctive CLAWAR themes. There are also a strong showing of articles covering human assist devices, notably exoskeletal and prosthetic devices, as well as social robots designed to meet the growing challenges of global ageing population.
Download or read book DESIGN OF LIGHTWEIGHT ASSISTIVE EXOSKELETONS FOR INDIVIDUALS WITH MOBILITY DISORDERS written by Michael McKinley and published by . This book was released on 2014 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: There are over 270,000 people in the United States suffering from spinal cord injury. Currently, the wheelchair is the most commonly prescribed mobility solution for these individuals. Unfortunately, numerous health problems can be developed as a side effect of extended sitting. Studies have indicated that standing and walking for wheelchair bound individuals can improve overall health and mitigate these secondary health risks. Several passive walking devices exist, however these approaches are impractical due to the high metabolic cost associated with walking. Powered lower extremity exoskeletons have the capacity to substantially improve overall health and mobility of paralyzed individuals. The practicality of previous mobile medical exoskeletons has been limited due to cumbersome walking dynamics, high system mass and high cost. This work introduces the Steven Exoskeleton, a lightweight minimally actuated assistive exoskeleton developed as a device that can be intuitively adopted by manual wheelchair users. This device builds off of the successes of several generations of low cost medical exoskeletons developed at the UC Berkeley Robotics and Human Engineering Laboratory. Several elements of exoskeleton gait have been refined for the Steven Exoskeleton allowing better control of walking speed with more fluid walking dynamics. By smoothing hip trajectories and increasing stride length it has been possible to increase overall speed and pilot comfort. New hardware allows tunable hip and spine flexibility, improving pilot performance and adaptability. Through hardware and control refinement, comfortable walking speed has been increased to 0.48m/s from a previous maximum of 0.27m/s. Higher walking speed makes the device more useful for locomotion and allows greater independence in society. The Steven Exoskeleton was designed to bridge the gap between seated and standing operation by assisting the user in a new range of postures. This approach expands pilot capabilities while seated and increases overall utility as a tool. This work also discusses a new approach to increase the reliability, and safety of standup and sit-down. Consistent standup and sit-down enables individuals to be self-sufficient with the possibility of full operation without a spotter. The adaptability of this device has enabled testing in laboratory and real world environments with pilots exhibiting a variety of medical conditions. The success of the Steven Exoskeleton and associated control and hardware adaptions moves devices of this nature closer to widespread adoption by paraplegics.
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
