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 Design of a Powered Lower limb Exoskeleton and Control for Gait Assistance in Paraplegics written by Ryan James Farris and published by . This book was released on 2012 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 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 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 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 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 Exoskeleton Robots for Rehabilitation and Healthcare Devices written by Manuel Cardona and published by Springer Nature. This book was released on 2020-05-26 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses cutting-edge topics in robotics and related technologies for rehabilitation, covering basic concepts and providing the reader with the information they need to solve various practical problems. Intended as a reference guide to the application of robotics in rehabilitation, it covers e.g. musculoskeletal modelling, gait analysis, biomechanics, robotics modelling and simulation, sensors, wearable devices, and the Internet of Medical Things.

Download or read book Assistive Design and Multiaxis Self tuning Control of a Novel Exoskeleton Robot Based on Fuzzy Logic Control in Gait Phase Detection for Rehabilitation of Lower Limb written by 李明展 and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Energy Recycling and Management for Lower Limb Exoskeleton written by Hao Lee and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower Limb Exoskeleton, a wearable robot that is designed to provide lower limb assistance to users, has been rapidly developed in the previous decade. The goal of these robots is to replace human labor with robots while still having humans involved. However, while these robot suits provide sufficient assistance to the users, the efficiency of the robot is often overseen. Thus, restrict the exoskeleton's operating time or required it to connect to an external power supply. However, there is plenty of energy wasted in human motions. In this study, we target "loaded bipedal walking" as the primary motion to assist. In chapter 2, we applied trajectory optimization on different mechanical designs for lower-limb exoskeletons. It is commonly known that humans tend to use more energy to walk compared to other limb-based locomotion animals. This higher energy usage is due to "heel strikes" and "negative work" during human gait. Passive walkers elevate this phenomenon by utilizing elastic joints that absorb/reuse some of the negative work. The objective of this study is to absorb energy at one phase of the gait cycle, store it, and then release it at a later phase through the use of a lower limb exoskeleton. Knee geometry is one important factor in energy efficiency during gait. Animals with reversed knees compared to humans (backward knee), such as ostriches, exhibit improved energy efficiency. As part of this study, new energy optimization strategies were developed utilizing collision-based ground reaction forces and a discrete lagrangian. The minimal cost of transport (CoT) gait patterns were calculated with both forward-knee and backward-knee human-exoskeleton models. Simulation results show that wearing a backward-knee exoskeleton can reduce the CoT by 15% of while carrying external loads ranging from 20 to 60 kg. In addition, when the exoskeleton utilized energy recycling, the CoT was shown to be further reduced to 35%. These simulation results suggested that the optimal design for an exoskeleton aimed at utilizing energy recycling principles should incorporate backward-knee configurations much like those found in energy-efficient biped/quadruped animals. In fact, since the potential energy sources (heel strikes, negative work) and the main energy consumer (ankle push-off) occurs in the opposite legs, the ideal actuators for the exoskeleton need to be able to recycle, store, and transfer energy between different legs. To satisfy the actuator's requirements from chapter 2, in chapter 3 we choose pneumatic actuators as the actuator for our exoskeleton. Pneumatic actuators are a popular choice for wearable robotics due to their high force-to-weight ratio and natural compliance, which allows them to absorb and reuse wasted energy during movement. However, traditional pneumatic control is energy inefficient and difficult to precisely control due to nonlinear dynamics, latency, and the challenge of quantifying mechanical properties. To address these issues, In chapter 3, we developed a wearable pneumatic actuator with energy recycling capabilities and applied the sparse identification of nonlinear dynamics (SINDy) algorithm to generate a nonlinear delayed differential model from simple pressure measurements. Using only basic knowledge of thermal dynamics, SINDy was able to train models of solenoid valve-based pneumatic systems with a training accuracy of 90.58% and a test accuracy of 86.44%. The generated model, when integrated with model predictive control (MPC), resulted in a 5% error in pressure control. By using MPC for human assistive impedance control, the actuator was able to output the desired force profile and recycle around 88% of the energy used in negative work. These results demonstrate an energy-efficient and easily calibrated actuation scheme for designing assistive devices such as exoskeletons and orthoses. In chapter 4, we presented Pneumatic Exoskeleton with Reversible Knee (PERK). It utilizes the pneumatic actuators we developed in chapter 3 and the control strategies we concluded in chapter 2. Three clinical trials were done on three different test subjects. The results showed despite different walking patterns across different test subjects, there is less potential energy change during the swing phase of walking, potentially reducing the energy loss during the heel strike. In addition, during the double support phase, there is less energy consumption in the pneumatic system while configuring it as backward-knee, indicating it is easier or more intuitive for the user to have the exoskeleton recycling the dissipated energy with the backward-knee mechanism.

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 Robotic Systems for Lower Limb Stroke Rehabilitation written by Aaron Yurkewich and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower extremity stroke rehabilitation exhausts considerable health care resources, is labor intensive, and provides mostly qualitative metrics of patient recovery. To overcome these issues, robots can assist patients in physically manipulating their affected limb and measure the output motion. The robots that have been currently designed, however, provide assistance over a limited set of training motions, are not portable for in-home and in-clinic use, have high cost and may not provide sufficient safety or performance. This thesis proposes the idea of incorporating a mobile drive base into lower extremity rehabilitation robots to create a portable, inherently safe system that provides assistance over a wide range of training motions. A set of rehabilitative motion tasks were established and a six-degree-of-freedom (DOF) motion and force-sensing system was designed to meet high-power, large workspace, and affordability requirements. An admittance controller was implemented, and the feasibility of using this portable, low-cost system for movement assistance was shown through tests on a healthy individual. An improved version of the robot was then developed that added torque sensing and known joint elasticity for use in future clinical testing with a flexible-joint impedance controller.

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 Actuation System Design Optimization for Lower Limb Assistive Robotic Exoskeletons written by Asim Ghaffar and published by . This book was released on 2020 with total page 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.