A lower limb exoskeleton based on recognition of lower limb walking intention

2019 ◽  
Vol 43 (1) ◽  
pp. 102-111
Author(s):  
Dowan Cha ◽  
Kab Il Kim
Keyword(s):  
Lower Limb ◽  
Muscle Activity ◽  
Research Centre ◽  
Lower Limb Exoskeleton ◽  
Dc Motors ◽  
Step Initiation ◽  
Step Velocity ◽  
Load Carrying ◽  
Acceleration And Deceleration ◽  
Driver’S Intention

Recognition of walking intention and assistance in the load-carrying driver’s walking capability are key challenging areas in lower limb exoskeletons. We present a lower limb exoskeleton called the unmanned technology research centre exoskeleton (UTRCEXO). It recognizes walking intention, including step initiation, step velocity (acceleration and deceleration), and step termination of drivers using only insole-type FSRs and three axis F/T sensors. UTRCEXO recognizes the driver’s intention of step initiation using insole-type FSRs and recognizes the intention of step velocity and step termination using three axis F/T sensors. UTRCEXO makes use of four DC motors, two at each knee and hip joint, to assist the driver. The the driver can carry a 20 kg payload comfortably with muscle activity reduction. In this paper, we evaluate muscle activity reduction in walking drivers equipped with UTRCEXO carrying a 20 kg payload.

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.

A NOVEL CABLE-PULLEY UNDERACTUATED LOWER LIMB EXOSKELETON FOR HUMAN LOAD-CARRYING WALKING

2017 ◽  
Vol 17 (07) ◽  
pp. 1740042
Author(s):  
YANG LIU ◽  
YONGSHENG GAO ◽  
YANHE ZHU
Keyword(s):  
Lower Limb ◽  
Evaluation Method ◽  
Joint Angle ◽  
Metabolic Cost ◽  
Human Motion ◽  
Control Effect ◽  
Effective Power ◽  
Lower Limb Exoskeleton ◽  
Load Carrying ◽  
Power Assistance

Wearable lower limb exoskeleton has comprehensive applications such as load-carrying augmentation, walking assistance, and rehabilitation training by using many active actuators in the joints to reduce the metabolic cost generally. The traditional fully actuated exoskeleton is bulky and requires large energy consumption, and the passive exoskeleton is difficult to provide effective power assistance. To achieve both small number of actuators and good assisting performance, this paper proposes a cable-pulley underactuated principle-based lower limb exoskeleton. The exoskeleton dynamics was modeled and the human-exoskeleton hybrid model was analyzed via ADAMS and LifeMOD to provide an evaluation method for power assistance. By exploiting the control strategy and utilizing the synergies of torque and power assistance, the hip joint and the knee joint can be actuated by a single cable simultaneously. Moreover, the human-exoskeleton co-simulation method was utilized to verify the assisting performance and control effect. In this simulation, the upper toque peak and power required by human are obviously reduced by power assistance and the joint angle curves without exoskeleton are in accordance with the joint angle curves with exoskeleton almost. In conclusion, the designed exoskeleton is compatible with human motion and feasible to provide effective power assistance in load-carrying walking.

Biomechanical modeling and load-carrying simulation of lower limb exoskeleton

2015 ◽  
Vol 26 (s1) ◽  
pp. S729-S738 ◽  
Author(s):  
Yanhe Zhu ◽  
Guoan Zhang ◽  
Chao Zhang ◽  
Gangfeng Liu ◽  
Jie Zhao
Keyword(s):  
Lower Limb ◽  
Biomechanical Modeling ◽  
Lower Limb Exoskeleton ◽  
Load Carrying

scholarly journals Guidelines for Working Heights of the Lower-Limb Exoskeleton (CEX) Based on Ergonomic Evaluations

2021 ◽  
Vol 18 (10) ◽  
pp. 5199
Author(s):  
Yong-Ku Kong ◽  
Chae-Won Park ◽  
Min-Uk Cho ◽  
Seoung-Yeon Kim ◽  
Min-Jung Kim ◽  
...  
Keyword(s):  
Lower Limb ◽  
Muscle Activity ◽  
Biceps Brachii ◽  
Erector Spinae ◽  
Whole Body ◽  
Emg Activity ◽  
Triceps Brachii ◽  
Lower Limb Exoskeleton ◽  
Upper Trapezius ◽  
Subjective Discomfort

The aim of this study was to evaluate the muscle activities and subjective discomfort according to the heights of tasks and the lower-limb exoskeleton CEX (Chairless EXoskeleton), which is a chair-type passive exoskeleton. Twenty healthy subjects (thirteen males and seven females) participated in this experiment. The independent variables were wearing of the exoskeleton (w/ CEX, w/o CEX), working height (6 levels: 40, 60, 80, 100, 120, and 140 cm), and muscle type (8 levels: upper trapezius (UT), erector spinae (ES), middle deltoid (MD), triceps brachii (TB), biceps brachii (BB), biceps femoris (BF), rectus femoris (RF), and tibialis anterior (TA)). The dependent variables were EMG activity (% MVC) and subjective discomfort rating. When wearing the CEX, the UT, ES, RF, and TA showed lower muscle activities at low working heights (40–80 cm) than not wearing the CEX, whereas those muscles showed higher muscle activities at high working heights (100–140 cm). Use of the CEX had a positive effect on subjective discomfort rating at lower working heights. Generally, lower discomfort was reported at working heights below 100 cm when using the CEX. At working heights of 100–140 cm, the muscle activity when wearing the CEX tended to be greater than when not wearing it. Thus, considering the results of this study, the use of the lower-limb exoskeleton (CEX) at a working height of 40–100 cm might reduce the muscle activity and discomfort of whole body and decrease the risk of related disorders.

scholarly journals Faster Detection of Step Initiation for the Lower Limb Exoskeleton with Vertical GRF Events

2014 ◽  
Vol 9 (2) ◽  
pp. 733-738 ◽  
Author(s):  
Dowan Cha ◽  
Daewon Kang ◽  
Kab Il Kim ◽  
Kyung-Soo Kim ◽  
Bum-Joo Lee ◽  
...  
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Step Initiation

scholarly journals PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 67250-67262
Author(s):  
Tianshuo Wang ◽  
Yanhe Zhu ◽  
Tianjiao Zheng ◽  
Dongbao Sui ◽  
Sikai Zhao ◽  
...  
Keyword(s):  
Lower Limb ◽  
High Load ◽  
Lower Limb Exoskeleton ◽  
Load Carrying

scholarly journals Design of a mechanical knee joint for an exoskeleton

2021 ◽  
Vol 338 ◽  
pp. 01003
Author(s):  
Jakub Deda ◽  
Tomasz Mirosław
Keyword(s):  
Knee Joint ◽  
Human Body ◽  
Lower Limb ◽  
Healthy People ◽  
Simple Task ◽  
Lower Limb Exoskeleton ◽  
Mechanical Joints ◽  
Mechanical Equivalent ◽  
Load Carrying ◽  
Body Joints

The main problem of designing a lower limb exoskeleton for healthy people is allowing unconstrained movement along with providing sufficient load carrying capability. It is not a simple task since most of the human body joints have more than one degree of freedom. A designed mechanical equivalent should imitate these movements being outside the human body. Due to this, the mechanical joints must provide shortening or elongation of the structure during load carrying. Authors present biomechanical analyzes of a knee joint and propose a design of a mechanical equivalent of this joint that can be applied in exoskeletons. Additionally, laboratory trials proved suitability of this solution.

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

Importance of Avasthiki Chikitsa in Pakshaghata and its complications: A Clinical Case Report

2017 ◽  
Vol 2 (3) ◽  
Author(s):  
Vishwanath S. Wasedar ◽  
Shilpa S. Biradar
Keyword(s):  
Case Report ◽  
Lower Limb ◽  
Life Style ◽  
Occipital Lobe ◽  
Blood Parameters ◽  
Effective Control ◽  
Research Centre ◽  
Successful Case ◽  
Diet And Exercise ◽  
Loss Of Strength

Purpose: Life style disorders demand a strict regimen throughout one’s life among which Hypertension and Diabetes Mellitus are common. Hence the treatment aims an effective control along with Life style modification. The negligence towards the prescribed life style regimen would lead to many complications among which stroke are most prominent and the prevalence in India is 29%. Though the patient is under strict Anti hypertensive medications still one day he/she will land up in stroke hampering his rest of precious life. Aim: With this understanding a successful case report is presented to highlight the importance of Avasthiki Chikitsa with life style modification in controlling Hypertension and treating Pakshaghata from the root level. Materials and Methods: A 74 years old female patient, known case of HTN and DM was brought on a stretcher to the Panchakarma OPD of KLEU Ayurveda Hospital and Research Centre with the complain of loss of strength in left upper and lower limb associated with inability to speak since 9 days. Her MRI suggested Left Hemiplegia with B/L cerebellar hemorrhagic infract in occipital lobe. Initially treatment commenced with Shiromarmaghata Chikitsa with Shamanoushadhi along with modern medication which the patient had been advised. Later on when the patient started to improve in her blood parameters allied science medications were tapered and gradually stopped excluding her routine medication. After the clearance of Avarana, Panchakarma therapies were administered sequentially at various stage with a meticulous diet and exercise. Results: After 22 days of treatment Diabetes and Hypertension were under control, patient was able to walk with minimal support and speech also improved. Conclusion: A well planned diet along with Ayurvedic therapies based on the Awastha provides encouraging results in treating HTN, DM and Pakshaghata.

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