scholarly journals Muscular activity and physical interaction forces during lower limb exoskeleton use

2016 ◽  
Vol 3 (4) ◽  
pp. 273-279 ◽  
Author(s):  
Matthew Wilcox ◽  
Ashish Rathore ◽  
Dafne Zuleima Morgado Ramirez ◽  
Rui C.V. Loureiro ◽  
Tom Carlson
Keyword(s):  
Lower Limb ◽  
Muscular Activity ◽  
Physical Interaction ◽  
Interaction Forces ◽  
Lower Limb Exoskeleton

Analysis of Human–Exoskeleton System Interaction for Ergonomic Design

2020 ◽  
pp. 001872082091378
Author(s):  
Yilin Wang ◽  
Jing Qiu ◽  
Hong Cheng ◽  
Xiaojuan Zheng
Keyword(s):  
Lower Limb ◽  
Pressure Sensors ◽  
Gait Training ◽  
Average Pressure ◽  
Interaction Forces ◽  
Lower Limb Exoskeleton ◽  
Pressure Threshold ◽  
Pain Pressure Threshold ◽  
Cord Injury ◽  
And Control

Objective Lower-limb exoskeleton systems are defined as gait training or walking-assisting devices for spinal cord injury or hemiplegic patients. Crutches, straps, and baffles are designed to protect subjects from falling. However, skin abrasions occur when the interaction forces are too large. In this study, the interaction forces between the human body and an exoskeleton system named the AIDER were measured to confirm whether the design was ergonomic. Background The AIDER system is a wearable lower-limb exoskeleton. It secures a subject by binding on the waist, thighs, shanks, and feet. Method Eight healthy subjects participated in the study. The interaction forces of the waist strap, thigh baffles, shank baffles, and crutch handles were measured by pressure sensors. Ten repetitions were completed in this study. After one repetition, custom comfort questionnaires were completed by the subjects. Results Although a few of the peak values of the maximum intensities of pressure between the hands and crutch handles reached the minimum value of the pain–pressure threshold (PPT), the average pressure intensities were much smaller than the PPT value. Conclusions The results indicated that the mechanical structure and control strategy of the AIDER must be improved to be more ergonomic in the future.

Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton

2017 ◽  
Author(s):  
Wilian dos Santos ◽  
Samuel Lourenco ◽  
Adriano Siqueira ◽  
Polyana Ferreira Nunes
Keyword(s):  
Lower Limb ◽  
Healthy Subjects ◽  
Motor Primitives ◽  
Lower Limb Exoskeleton

Human-In-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking

2020 ◽  
pp. 1-1
Author(s):  
Zhijun Li ◽  
Kuankuan Zhao ◽  
Longbin Zhang ◽  
Xinyu Wu ◽  
Tao Zhang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Dynamic Walking ◽  
Loop Control ◽  
Human In The Loop ◽  
Lower Limb Exoskeleton

Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102610
Author(s):  
Jinsong Zhao ◽  
Tao Yang ◽  
Zhilei Ma ◽  
Chifu Yang ◽  
Zhipeng Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Exoskeleton Robot ◽  
Modal Space
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