Download or read book DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS written by Wayne Yi-Wei Tung and published by . This book was released on 2013 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered lower-extremity exoskeletons have traditionally used four to ten powered degrees of freedom to provide ambulation assistance for individuals with spinal cord injury. Systems with numerous high-impedance powered degrees of freedom commonly suffer from cumbersome walking dynamics and decreased utility due to added weight and increased control complexity. This work proposes a new approach to powered exoskeleton design that minimizes actuation and control complexity through embedding intelligence into the hardware. Two novel, minimally actuated exoskeleton systems (the Austin and the Ryan) are presented in this dissertation. Unlike conventional powered exoskeletons, the presented devices use a single motor for each exoskeleton leg in conjunction with a unique hip-knee coupling system to enable their users to walk, sit, and stand. The two types of joint coupling systems used are as follows. The Austin Exoskeleton employs a bio-inspired mechanical joint coupling system designed to mimic the biarticular coupling of human leg muscles. This system allows a single actuator to power both hip and knee motions simultaneously. More specifically, when the mechanical hamstring and rectus femoris of the exoskeleton are activated, power from the hip actuator is transferred to the knee, generating synchronized hip-knee flexion and extension. The coupling mechanism is switched on and off at specific phases of the gait (and the sit-stand cycle) to generate the desired joint trajectories. The device has been proven to be successful in assisting a complete T12 paraplegic subject to walk, sit, and stand. The Ryan Exoskeleton (also called the Passive Knee Exoskeleton) uses dynamic joint coupling. Dynamic joint coupling refers to a method of generating knee rotation through deliberate swinging of the hip joint. This minimalistic system is the first powered exoskeleton that weighs less than 20 pounds and has a compact form factor that more closely resembles a reciprocating gait orthosis than a conventional exoskeleton. The Passive Knee Exoskeleton has been validated by several SCI test pilots with injury levels ranging from T5 to T12. The lightweight, ambulation-centric assistive device have been tested to be able to comfortably reach an average ambulation speed of 0.27 m/s and have demonstrated high levels of maneuverability. The dynamic joint coupling paradigm has been proven to be effective especially for newly injured individuals who have not yet developed significant amounts of joint contracture or sustain high levels of spasticity. Overall, this dissertation focuses on the design and operation of the Austin and Ryan Exoskeletons.
Download or read book Control Strategies for a Minimally Actuated Medical Exoskeleton for Individuals with Paralysis written by Jason Ira Reid and published by . This book was released on 2012 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over 265,000 individuals in the United States have a spinal cord injury. The wheelchair is currently the most prescribed mobility option for this population. Robotic exoskeleton devices are a promising alternative means of mobility that enable a paraplegic user to regain the physical and emotional health benefits of standing and walking. This dissertation will discuss novel gait strategies that were designed for a minimally-actuated medical exoskeleton device. Two novel stance control strategies will be presented that are designed to propel the exoskeleton and pilot forward out of double-stance. The first stance strategy relies on the movement of the pilot's torso as a means to dynamically propel the system forward through a step. Second, a more advanced strategy that propels the user forward while stabilizing their torso will also be proposed. Through the manipulation of lower extremity kinematics, the user can be propelled forward out of double-stance with an exoskeleton that only has actuation at the hips. Sequential methods of trajectory generation will be described for both strategies. Experimental results will be presented that support the efficacy for these stance strategies. In addition, this dissertation proposes an original sequential swing phase model. This model is used to produce a gait trajectory for the swing leg that dynamically controls an unactuated swing knee. A method for swing phase hip trajectory generation will be presented. Experimental results will be shown that validate the efficacy of the swing phase trajectory at producing a natural human-like swing phase from a swing leg that has no actuation at the knee. Extensive pilot testing of the medical exoskeleton in both structured and unstructured environments was completed. The results from these tests support the efficacy of the control algorithms and show great promise in the minimally actuated exoskeleton paradigm. This work enables a reduction in exoskeleton hardware complexity, reduced weight, and anticipated lower costs for end users so that more spinal cord injury patients may have greater access to this technology.
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 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 Handbook of Research on Biomimetics and Biomedical Robotics written by Habib, Maki and published by IGI Global. This book was released on 2017-12-15 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomimetic research is an emerging field that aims to draw inspiration and substances from natural sources and create biological systems in structure, mechanism, and function through robotics. The products have a wide array of application including surgical robots, prosthetics, neurosurgery, and biomedical image analysis. The Handbook of Research on Biomimetics and Biomedical Robotics provides emerging research on robotics, mechatronics, and the application of biomimetic design. While highlighting mechatronical challenges in today’s society, readers will find new opportunities and innovations in design capabilities in intelligent robotics and interdisciplinary biomedical products. This publication is a vital resource for senior and graduate students, researchers, and scientists in engineering seeking current research on best ways to globally expand online higher education.
Download or read book Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-12-18 with total page 791 pages. Available in PDF, EPUB and Kindle. Book excerpt: Along with the introduction of technology in nearly every facet of human life comes the question of the ethical side of using technology to improve the human condition, whether that be physically or mentally. The capabilities of human enhancement technologies have created a dual-sided approach to discussing human enhancement: the critical approach of attempting to reach human perfection and the ethics within that idea and the endless capabilities of technology that have greatly impacted the medical field. It is essential to discuss both aspects within these emerging technologies, whether as separate entities or as cohesive units. Ranging from disease detection and treatment to implants and prosthetics to robotics and genetic engineering, human enhancement technologies are widespread and multi-purposed. By going beyond the capabilities of human hands, these technologies have propelled modern medicine and healthcare to new levels that have allowed humans to face new treatments or assistive technologies not seen before. The Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement covers the primary technologies and tools being used in medicine and healthcare along with discussions on the ethics of enhancing the human body. Topics covered include prosthetics and implants, robotics, human disorders/diseases and treatments and smart technologies, along with law and theory. This publication serves as a valuable reference work for doctors, medical professionals, researchers, students, professionals, and practitioners involved in fields that include ethics, medicine, computer science, robotics, genetics, assistive technologies, nanotechnology, biomedical engineering, and biotechnology.
Download or read book Approaches to Minimally Actuated Exoskeleton Gait Development written by Bradley Wayne Perry and published by . This book was released on 2016 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: There are 6.8 million people in the United States that have mobility disorders and must rely on the use of assistive devices to aid in locomotion \cite{kaye2000mobility}. The human body was designed for a particular bipedal locomotion pattern, and deviations from that method of locomotion can result in secondary injuries. Many of the current solutions for mobility disorders are primitive, such as crutches or canes if possible and wheelchairs when not. In recent years, more intelligent, robotic systems have been developed to aid this population that needs assistance walking. Among these new robotic solutions are robotic exoskeletons. Robotic exoskeletons have become a more popular rehabilitation tool in recent years, particularly for those with spinal cord injury. There are currently three robotic exoskeletons with US Food and Drug Administration approval for clinical use. One barrier to wider adoption is the cost of these devices. To reduce cost, a more minimal design was developed at the Human Engineering and Robotics Laboratory at the University of California with only two actuators at the hips and a semi-passive locking mechanism at the knee. While this design can help reduce the weight and cost, it introduces additional complexity to the gait development due to the lack of actuation. The gait development strategies discussed in this paper are inspired by clinical gait data collected from healthy subjects. After all, the ultimate goal of an exoskeleton system as a rehabilitation device is to rehabilitate the pilot to the point that the patient's gait is restored to a natural walking pattern and the device is no longer necessary. Using clinical gait data and biomechanical studies, several models are developed for the design considered. A kinematic model was developed to better understand the angular constraints during both single stance and double stance. A dynamic model was also developed that models the behaviour of the system for different phases of the gait. Finally all these models were linked together in a finite state machine to form a hybrid automaton. The finite state machine specifies the switching conditions for each state. One method for gait development is to design gaits that are tunable such that the gait practitioner can tune the gait to the pilot's comfort and rehabilitation needs. In this endeavour, a kinematic model is used to define the constraints of the double stance phase. The gaits are then generated using a quartic polynomial spline using the node parameters from the kinematic analysis. This method empowers the gait practitioner by using tuning parameters that they understand from gait rehabilitation literature. Another method for gait development is to use optimal gaits based on a hybrid automaton model of the system. The automaton implements three states or phases of the gait cycle including their associated dynamic models. Using this model, the gaits can be optimized for the torques necessary for these gaits under minimal input assumptions from the pilot in each of the phases. This optimization allows for a more detailed understanding of the system dynamics and an optimal gait given constraints of both the system and the gait cycle. Furthermore, the optimization method can be utilized as a gait generator that is tailored to each individual pilot, effectively reducing the workload of the gait practitioner.
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 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 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 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 Prosthetics and Orthotics written by Mokhtar Arazpour and published by . This book was released on 2021-10 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book consists of two parts: Prosthetics and Orthotics. Over the years there has been rapid development in prostheses and orthoses. Advancement of technology, significant progress in computer components and robotics, and the development of new materials have enabled many people in need to return to useful and practical life. This book provides information for effective clinical decision-making for those working with people who need medical supportive devices. Over two parts, chapters in this volume examine construction methods, applications, and effects of prosthetic and orthotic devices.
Download or read book Human Performance Optimization written by Michael D. Matthews and published by Oxford University Press, USA. This book was released on 2019-01-29 with total page 489 pages. Available in PDF, EPUB and Kindle. Book excerpt: The content of Human Performance Optimization is unique in terms of the focus, breadth, and scope of the individual chapter contributions. Moreover, this book was developed in response to a pressing need, first directed by the Chief of Staff of the Army, to examine current and future developments in behavioral, cognitive, and social neuroscience that may allow organizations to enhance individual worker and team performance. This volume captures a wide range of approaches, both with an eye to describing state of the art knowledge, and projecting what may become applicable in the near future. The variety of social, technological, and scientific issues make this book indispensable in our time. Organizations of all sorts, but especially those who operate in "in extremis" or high-stakes settings, are seeking to improve the performance of their workers. The chapters' breadth and accessibility will allow strategic leaders of organizations to evaluate breaking news in HPO, and will also serve as an up-to-date review of the field for scientists involved in human performance research.
Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.
Download or read book ROMANSY 21 Robot Design Dynamics and Control written by Vincenzo Parenti-Castelli and published by Springer. This book was released on 2016-06-29 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
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 Neurorehabilitation Technology written by David J. Reinkensmeyer and published by Springer Nature. This book was released on 2022-11-15 with total page 771 pages. Available in PDF, EPUB and Kindle. Book excerpt: This revised, updated, and substantially expanded third edition provides an accessible, practical overview of major areas of research, technical development and clinical application in the field of neurorehabilitation movement therapy. The initial section provides the basic framework and a rationale for technology application in movement therapy by summarizing recent findings in neuroplasticity and motor learning. The following section provides a detailed overview of the movement physiology of various neurologic conditions, illustrating how this knowledge has been used to design various neurorehabilitation technologies. The third section then explains the principles of human-machine interaction for movement rehabilitation. The fourth section provides an overview of assessment technology and predictive modeling in neurorehabilitation. The fifth section provides a survey of technological approaches to neurorehabilitation, including spinal cord stimulation, functional electrical stimulation, virtual reality, wearable sensing, brain computer interfaces, mobile technologies, and telerehabilitation. The final two sections examine in greater detail the ongoing revolution in robotic therapy for upper extremity movement and walking, respectively. The promises and limitations of these technologies in neurorehabilitation are discussed, including an Epilogue which debates the impact and utility of robotics for neurorehabilitation. Throughout the book the chapters provide detailed practical information on state-of-the-art clinical applications of these devices following stroke, spinal cord injury, and other neurologic disorders and future developments in the field. The text is illustrated throughout with photographs and schematic diagrams which serve to clarify the information for the reader. Neurorehabilitation Technology, Third Edition is a valuable resource for neurologists, biomedical engineers, roboticists, rehabilitation specialists, physiotherapists, occupational therapists and those training in these fields. Chapter “Spinal Cord Stimulation to Enable Leg Motor Control and Walking in People with Spinal Cord Injury is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
