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 Energy Shaping Control of Powered Lower limb Exoskeletons for Assistance of Human Locomotion written by Ge Lv and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The majority of powered lower-limb exoskeletons nowadays are designed to rigidly track time-based kinematic patterns, which forces users to follow specific joint positions. This kinematic control approach is limited to replicating the normative joint kinematics associated with one specific task and user at a time. These pre-defined trajectories cannot adjust to continuously varying activities or changes in user behavior associated with learning during gait rehabilitation. Time-based kinematic control approach must also recognize the user’s intent to transition from one task-specific controller to another, which is susceptible to errors in intent recognition and does not allow for a continuous range of activities. Moreover, fixed joint patterns also do not facilitate active learning during gait rehabilitation. People with partial or full volitional control of their lower extremities should be allowed to adjust their joint kinematics during the learning process based on corrections from the therapist. To address this issue, we propose that instead of tracking reference kinematic patterns, kinetic goals (for example, energy or force) can be enforced to provide a flexible learning environment and allow the user to choose their own kinematic patterns for different locomotor tasks. In this dissertation, we focus on an energetic control approach that shapes the Lagrangian of the human body and exoskeleton in closed loop. This energetic control approach, known as energy shaping, controls the system energy to a specific analytical function of the system state in order to induce different dynamics via the Euler-Lagrange equations. By explicitly modeling holonomic contact constraints in the dynamics, we transform the conventional Lagrangian dynamics into the equivalent constrained dynamics that have fewer (or possibly zero) unactuated coordinates. Based on these constrained dynamics, the matching conditions, which determine what energetic properties of the human body can be shaped, become easier to satisfy. By satisfying matching conditions for human-robot systems with arbitrary system dimension and degrees of actuation, we are therefore able to present a complete theoretical framework for underactuated energy shaping that incorporates both environmental and human interaction. Simulation results on a human-like biped model and experimental results with able-bodied subjects across a variety of locomotor tasks have demonstrated the potential clinical benefits of the proposed control approach.
Download or read book DESIGN AND DEVELOPMENT OF LOWER LIMB EXOSKELETON FOR REHABILITATION written by YUGAN A/L VELUSAMY (TP016733) and published by . This book was released on 2013 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Powered Exoskeleton to Improve the Efficiency of Human Walking written by Luke Matthewson Mooney and published by . This book was released on 2016 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: For over a century, technologists have strived to develop autonomous leg exoskeletons that reduce the metabolic energy consumed when humans walk and run, but such technologies have traditionally remained unachievable. In this thesis, I present the Augmentation Factor, a simple model that predicts the metabolic impact of lower limb exoskeletons during walking. The Augmentation Factor balances the benefits of positive exoskeletal mechanical power with the costs of mechanical power dissipation and added limb mass. These insights were used to design and develop an autonomous powered ankle exoskeleton. A lightweight electric actuator mounted on the lower-leg provides mechanical assistance to the ankle during powered plantar flexion. Use of the exoskeleton significantly reduced the metabolic cost of walking by 11 ± 4% (p = 0.019) compared to walking without the device. In a separate study, use of the exoskeleton reduced the metabolic cost of walking with a 23 kg weighted vest by 8 ± 3% (p = 0.012). A biomechanical study revealed that the powered ankle exoskeleton does not simply replace ankle function, but augments the biological ankle while assisting the knee and hip. Use of the powered ankle exoskeleton was shown to significantly reduced the mean positive power of the biological ankle by 0.033 ± 0.006 W/kg (p
Download or read book Design of the Trunk and Torso of a Lower Limb Exoskeleton written by Maja Paar and published by . This book was released on 2021 with total page 57 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower-limb exoskeletons are used to allow paraplegic people to walk and are attached to a person's lower body, extending from the back to the feet. The motorized hip, knee, and ankle joints allow paraplegic patients to simulatable able-bodied walking. Many exoskeletons on the market and in development are not being chosen over wheelchairs because they lack comfort, require a lot of energy to use, and need to be custom-manufactured for each user. Due to these limitations, I worked on making changes to the trunk and torso portions of the exoskeleton. This included adding extra degrees of freedom to the hip joints so it more realistically mimics walking and therefore makes movement easier. Previously, the hips only moved forward and backward, leaving the abduction and adduction joint at zero degrees. In addition to the existing forward and backward motion of the hip joints, there is now the ability to adjust the angle of abduction and adduction. There is added adjustability to the torso so that it can be worn by a wide range of people and does not have to be custom-manufactured for each user. Simple adjustments can be made in a matter of minutes to expand or contract for different users' size requirements. The hip joints can also be moved forward and backward so that the center of rotation of the device lines up with the user's hip's center of rotation, which is crucial to a realistic, comfortable gait. These improvements aid in making the device more comfortable and less strenuous to use as well as easing the testing process.
Download or read book Plastic Waste and Recycling written by Trevor M. Letcher and published by Academic Press. This book was released on 2020-03-10 with total page 686 pages. Available in PDF, EPUB and Kindle. Book excerpt: Plastic Waste and Recycling: Environmental Impact, Societal Issues, Prevention, and Solutions begins with an introduction to the different types of plastic materials, their uses, and the concepts of reduce, reuse and recycle before examining plastic types, chemistry and degradation patterns that are organized by non-degradable plastic, degradable and biodegradable plastics, biopolymers and bioplastics. Other sections cover current challenges relating to plastic waste, explain the sources of waste and their routes into the environment, and provide systematic coverage of plastic waste treatment methods, including mechanical processing, monomerization, blast furnace feedstocks, gasification, thermal recycling, and conversion to fuel. This is an essential guide for anyone involved in plastic waste or recycling, including researchers and advanced students across plastics engineering, polymer science, polymer chemistry, environmental science, and sustainable materials. Presents actionable solutions for reducing plastic waste, with a focus on the concepts of collection, re-use, recycling and replacement Considers major societal and environmental issues, providing the reader with a broader understanding and supporting effective implementation Includes detailed case studies from across the globe, offering unique insights into different solutions and approaches
Download or read book 2021 27th International Conference on Mechatronics and Machine Vision in Practice M2VIP written by IEEE Staff and published by . This book was released on 2021-11-26 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: With the advent of new functional materials, smart actuators, smart sensors, embedded computers and 3D printing technologies, as well as the latest advance in machine vision, intelligence, machine learning and computational modeling, a lot of more intelligent, powerful, miniaturized or user friendly devices, systems and robots are emerging that meet the needs of modern day living The M2VIP 2020 aims to provide an international and interdisciplinary forum for the mechatronics and machine vision research community to explore the frontier of science and technology in smart actuators, smart sensors, intelligent machines, advanced robots, machine learning and artificial intelligence systems
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 Advances in Robot Design and Intelligent Control written by Aleksandar Rodić and published by Springer. This book was released on 2016-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master’s and Ph.D. students working on robotics projects.
Download or read book Eco Towers written by K. Al-Kodmany and published by WIT Press. This book was released on 2015-05-05 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: Eco-Towers introduces readers to groundbreaking designs, most progressive projects, and innovative ways of thinking about a new generation of green skyscrapers that could provide solutions to crises the world faces today including climate change, depleting resources, deteriorating ecology, population increase, decreasing food supply, urban heat island effect, pollution, deforestation, and more. The book suggests that the eco-tower culminates the cultural and technological evolutions of the 21st century by building and improving on the experiences of earlier designs of skyscrapers and philosophies particularly green, sustainable, and ecological. It argues that the true green skyscraper is the one that engages successfully with its larger urban context by establishing symbiotic relationships with the social, economic, and environmental aspects. Since tall buildings are becoming larger and taller, serving greater number of people, and exerting higher demand on the environment and existing infrastructure, any improvements in their design and construction will significantly enhance urban conditions. The book elucidates how green skyscrapers better serve tenants, mitigate environmental impacts, and improve integration with the city infrastructure. It explains how skyscrapers’ long life cycle offers the greatest justifications for recycling precious resources, and makes it a worthwhile to employ green features in constructing new skyscrapers and retrofitting existing ones. Subsequently, the book explores new designs that are employing cutting-edge green technologies at a grand scale including water-saving technologies, solar panels, helical wind turbines, sunlight-sensing LED lights, rainwater catchment systems, graywater and blackwater recycling systems, seawater-powered air conditioning, and the like. In the future, new building materials and smart technologies will continue to offer innovative design approaches to sustainable tall buildings with new aesthetics, referred to as “eco-iconic” skyscrapers.
Download or read book Energy Harvesting Technologies written by Shashank Priya and published by Springer Science & Business Media. This book was released on 2008-11-28 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Energy Harvesting Technologies provides a cohesive overview of the fundamentals and current developments in the field of energy harvesting. In a well-organized structure, this volume discusses basic principles for the design and fabrication of bulk and MEMS based vibration energy systems, theory and design rules required for fabrication of efficient electronics, in addition to recent findings in thermoelectric energy harvesting systems. Combining leading research from both academia and industry onto a single platform, Energy Harvesting Technologies serves as an important reference for researchers and engineers involved with power sources, sensor networks and smart materials.
Download or read book Materials Design and Manufacturing for Sustainable Environment written by Santhakumar Mohan and published by Springer Nature. This book was released on 2021-02-06 with total page 909 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the select proceedings of the International Conference on Materials, Design and Manufacturing for Sustainable Environment (ICMDMSE 2020). The primary focus is on emerging materials and cutting-edge manufacturing technologies for sustainable environment. The book covers a wide range of topics such as advanced materials, vibration, tribology, finite element method (FEM), heat transfer, fluid mechanics, energy engineering, additive manufacturing, robotics and automation, automobile engineering, industry 4.0, MEMS and nanotechnology, optimization techniques, condition monitoring, and new paradigms in technology management. Contents of this book will be useful to students, researchers, and practitioners alike.
Download or read book EcoDesign and Sustainability I written by Yusuke Kishita and published by Springer Nature. This book was released on 2020-11-02 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights cutting-edge ecodesign research, covering product and service design, smart manufacturing, and social perspectives in ecodesign. Featuring selected papers presented at EcoDesign 2019: 11th International Symposium on Environmentally Conscious Design and Inverse Manufacturing, it also includes diverse, interdisciplinary approaches to foster ecodesign research and activities. In the context of Sustainable Development Goals (SDGs), it addresses the need for the manufacturing industry to design innovations for sustainable value creation, taking into account technological developments, legislation, and consumer lifestyles. Further, the book discusses the concept of circular economy, which originated in Europe and aims to increase resource efficiency by shifting away from the linear economy. Focusing on product life cycle design and management, smart manufacturing, circular economy, and business strategies, and providing useful approaches and solutions to these emerging concepts, this book is intended for both researchers and practitioners working in the broad field of ecodesign and sustainability.
Download or read book Wearable Robotics Challenges and Trends written by José González-Vargas and published by Springer. This book was released on 2016-10-04 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 2nd International Symposium on Wearable Robotics, WeRob2016, held October 18-21, 2016, in Segovia, Spain, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2016 with the International Conference on Neurorehabilitation, INCR2016. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Download or read book Inventing Iron Man written by E. Paul Zehr and published by JHU Press. This book was released on 2011-10 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: "E. Paul Zehr physically deconstructs Iron Man to find out how we could use modern-day technology to create a suit of armor similar to the one Stark made"--Jacket.
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 Blink written by Malcolm Gladwell and published by Back Bay Books. This book was released on 2007-04-03 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: From the #1 bestselling author of The Bomber Mafia, the landmark book that has revolutionized the way we understand leadership and decision making. In his breakthrough bestseller The Tipping Point, Malcolm Gladwell redefined how we understand the world around us. Now, in Blink, he revolutionizes the way we understand the world within. Blink is a book about how we think without thinking, about choices that seem to be made in an instant--in the blink of an eye--that actually aren't as simple as they seem. Why are some people brilliant decision makers, while others are consistently inept? Why do some people follow their instincts and win, while others end up stumbling into error? How do our brains really work--in the office, in the classroom, in the kitchen, and in the bedroom? And why are the best decisions often those that are impossible to explain to others? In Blink we meet the psychologist who has learned to predict whether a marriage will last, based on a few minutes of observing a couple; the tennis coach who knows when a player will double-fault before the racket even makes contact with the ball; the antiquities experts who recognize a fake at a glance. Here, too, are great failures of "blink": the election of Warren Harding; "New Coke"; and the shooting of Amadou Diallo by police. Blink reveals that great decision makers aren't those who process the most information or spend the most time deliberating, but those who have perfected the art of "thin-slicing"--filtering the very few factors that matter from an overwhelming number of variables.
