A brain-controlled lower-limb exoskeleton for human gait training

2017 ◽  
Vol 88 (10) ◽  
pp. 104302 ◽  
Author(s):  
Dong Liu ◽  
Weihai Chen ◽  
Zhongcai Pei ◽  
Jianhua Wang
Keyword(s):  
Lower Limb ◽  
Gait Training ◽  
Human Gait ◽  
Lower Limb Exoskeleton

scholarly journals Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199228
Author(s):  
Buyun Wang ◽  
Yi Liang ◽  
Dezhang Xu ◽  
Zhihong Wang ◽  
Jing Ji
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Control Method ◽  
Human Gait ◽  
Tracking Accuracy ◽  
Driving System ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Pressure Compensation ◽  
Power Assistance

According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved.

Initial Results of Lower Limb Exoskeleton Therapy with Human Gait Analysis for a Paraplegic Patient

2021 ◽  
pp. 151-157
Author(s):  
Luca Toth ◽  
Adam Schiffer ◽  
Veronika Pinczker ◽  
Peter Muller ◽  
Andras Buki ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Human Gait Analysis ◽  
Paraplegic Patient ◽  
Initial Results

scholarly journals ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 789 ◽  
Author(s):  
Manuel Cardona ◽  
Cecilia E. García Cena ◽  
Fernando Serrano ◽  
Roque Saltaren
Keyword(s):  
Lower Limb ◽  
Conceptual Development ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Gait Parameters ◽  
Measurement Units ◽  
Mechanical Sensor ◽  
Wearable Exoskeleton ◽  
Novel Concept ◽  
Real Time Information

Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation

2016 ◽  
Vol 87 (10) ◽  
pp. 104301 ◽  
Author(s):  
Mingxing Lyu ◽  
Weihai Chen ◽  
Xilun Ding ◽  
Jianhua Wang ◽  
Shaoping Bai ◽  
...  
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Gait Rehabilitation ◽  
Biologically Inspired ◽  
Lower Limb Exoskeleton

scholarly journals Design and control of a lower limb exoskeleton for robot-assisted gait training

2009 ◽  
Vol 6 (2) ◽  
pp. 229-243 ◽  
Author(s):  
Pieter Beyl ◽  
Michaël Van Damme ◽  
Ronald Van Ham ◽  
Bram Vanderborght ◽  
Dirk Lefeber
Keyword(s):  
Lower Limb ◽  
Gait Training ◽  
Robot Assisted ◽  
Lower Limb Exoskeleton ◽  
And Control

Gait Characteristics for a Lower Limb Exoskeleton Implementing the Precedence Walking Assistance Mechanism

2014 ◽  
Vol 627 ◽  
pp. 241-245
Author(s):  
Do Wan Cha ◽  
Kab Il Kim ◽  
Kyung Soo Kim ◽  
Bum Joo Lee ◽  
Soo Hyun Kim
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Research Centre ◽  
Technology Research ◽  
Joint Torques ◽  
Initiation Phase ◽  
Lower Limb Exoskeleton ◽  
Gait Characteristics ◽  
Step Initiation ◽  
Step Velocity

In this paper, we analyse human gait patterns, including knee and hip joint torques and muscle activities, during step initiation phase and continuous walking phase. Additionally, we present a lower limb exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) implementing a precedence walking assistance mechanism based on the gait characteristics. The operator equipped with the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) walks with a 15 kg load at 3.3 km/h step velocity.

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.

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