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In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection...
This paper introduces a lightweight knee assisting robot called “COWALK-M” and a control methodology using estimated ground slope and intended walking speed of the wearer. It is designed to assist stroke patients suffering from mild hemiplegia to move the paretic knee joint during Activities of Daily Living(ADL). The COWALK-M has various kinds of sensors including pressure sensors under the soles...
Increasing research has been conducted into the use of robotic devices for neurorehabilitation. One advantage of these devices over traditional rehabilitation is the availability of measured data, which can be used to inform potential patient-specific protocol for recovery or simply to provide higher frequency feedback to the patients and therapists. It has previously been identified that such devices...
This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton linger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used as input to a microcomputer controller. Flexion and extension of the exoskeleton was accomplished by...
This paper describe the design and development of Upper Extremities Powered Exoskeleton of Four-Degree of Freedom (4 DOF) which is developed utilizing the McKibben Artificial Muscles. Such systems will be useful in the field of rehabilitation, and provides additional strength in lifting capabilities to ordinary individuals. Main purposes of the system are to rehabilitate post-stroke individual, and...
Exoskeleton of lower extremity, as a kind of wearable robot, can help people who have walking problems and offer rehabilitation training. In this work, through the analysis of human walking, the mechanical structure of an exoskeleton system was studied. By judging the user's intended movement with the measured pressure of the feet, the exoskeleton system works to assist the user. Then, surface EMG...
In this paper, preliminary studies are presented to model and design a device that will be part of an exoskeleton actuated by Pneumatic Artificial Muscles (PAM's). The aim of the device is to assist the user in lifting weights, avoiding backbone lesions. The device increases the strength of the operator. It uses sensors to detect the force to be applied and to detect the position of the user's trunk...
In the past decade, the population of disability grew rapidly and became one of main problems in our society. The significant amounts of impaired patients include not only lower limb but also upper limb impairment such as the motor function of arm and hand. However, physical therapy requires high personal expenses and takes long time to complete the rehabilitation. In order to solve the problem mentioned...
In an ageing population many people with muscle weakness may benefit from an assisting exoskeleton to improve their mobility. Recent developments in research labs around the world are often complex, not modular and expensive. This paper introduces a novel modular compliant actuator for use in assistive lower limb exoskeletons. It is a low-cost, light-weight, compliant actuator unit that can be easily...
Every year, stroke significantly affects thousands of individuals who require rehabilitation to regain lost movements and return to a normal life. Exoskeletons are becoming a very powerful tool to help therapists in this rehabilitation process. This work presents a robotic exoskeleton designed to assist overground gait training for stroke survivors with deficits in gait coordination despite conventional...
To facilitate kinematic changes in expendable exoskeletons, considerations must be placed on the links leading to the end joint(s), where rigid connections with human limbs could lead to uncomfortable experiences for a pilot operating the exoskeleton. To cater to changes in human size while maintaining initial kinematic computation, an additional exoskeleton named the Shadow-Suit is proposed as a...
In the present paper it is presented a finger exoskeleton able to acquire the position of the joints to be used as a guide to an avatar. The goal was to develop a cheap, reliable and comfortable device. The methods employed were CAD and Rapid Prototyping technology.
In this paper we investigate the key factors associated with the realization of a hand exoskeleton that could be embedded in an astronaut glove for EVA (Extra Vehicular Activities). Such a project poses several and varied problems, mainly due to the complex structure of the human hand and to the extreme environment in which the glove operates. This work provides an overview of existing exoskeletons...
This paper presents MoonWalker, a lower limb exoskeleton able to sustain part of a user's bodyweight. This orthosis can be used for rehabilitation, to help people having weak legs, or to help those suffering from a broken leg, to walk. It can also be used as an assistive device helping people carrying heavy loads. Its main characteristic is that a passive force balancer provides the force to sustain...
A bidirectional force feedback dataglove actuated by pneumatic artificial muscles is introduced which has simpler exoskeleton structure and exerts bidirectional force only on the fingertips. Moreover, its fewer attachments can reduce the effect of the attachment looseness on the accuracy of position and force control. It meets all needs of virtual reality and the requirement of hand rehabilitation...
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