A Review on Lower-Limb Exoskeleton System for Sit to Stand, Ascending and Descending Staircase Motion

2014 ◽  
Vol 541-542 ◽  
pp. 1150-1155 ◽  
Author(s):  
A. Norhafizan ◽  
R.A.R. Ghazilla ◽  
Vijayabaskar Kasi ◽  
Z. Taha ◽  
Bilal Hamid
Keyword(s):  
Lower Limb ◽  
Intelligent System ◽  
Human Motion ◽  
Rehabilitation Robotics ◽  
Industrial Robots ◽  
Motion Generation ◽  
Robotic Exoskeleton ◽  
Lower Limb Exoskeleton ◽  
Human Power ◽  
Sit To Stand

Robotic exoskeleton system has been found to be an active area of study which being used in human power augmentation, human power assistance, robotic rehabilitation, and haptic interaction in virtual reality developed in recent robotic research. In recent years, the application of robotic exoskeleton has become more prominent as to provide alternative solutions for physically less incapable people (PLIP) support in their daily movements. Most common difficulties faced by PLIP are in sit-to-stand, ascending and descending staircases. Unlike industrial robots, the robotic exoskeleton systems need to consider a special design because they directly interact with human user. In the mechanical design of these systems, human and robotic suitable kinematics, wearer safety, human user comfort wearing, low inertia, and adaptability should be especially considered. Controllability, responsiveness, flexible and smooth motion generation, and safety should especially be considered in the controllers of exoskeleton systems. Furthermore, the controller should generate the motions in accordance with the human motion intention. This paper briefly reviews the lower-limb robotic exoskeleton systems. In the short review, it is focused to identify the brief history, basic concept, challenges, and future development of the robotic exoskeleton systems to assist the physically less incapable people (PLIP) in rising up, sitting, ascending and descending staircases. Furthermore, key technologies of lower-limb exoskeleton systems are reviewed by taking state-of-the-art robot as examples. Keywords: List the Robotic exoskeleton systems, rehabilitation robotics, man-machine intelligent system

scholarly journals Robust nonsingular fast terminal sliding-mode control for Sit-to-Stand task using a mobile lower limb exoskeleton

2020 ◽  
Vol 101 ◽  
pp. 104496 ◽  
Author(s):  
Joel Hernández Hernández ◽  
Sergio Salazar Cruz ◽  
Ricardo López-Gutiérrez ◽  
Arturo González-Mendoza ◽  
Rogelio Lozano
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Sit To Stand ◽  
Fast Terminal Sliding Mode

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.

scholarly journals Design and First Operation of an Active Lower Limb Exoskeleton with Parallel Elastic Actuation

Actuators ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 75
Author(s):  
Bernhard Penzlin ◽  
Lukas Bergmann ◽  
Yinbo Li ◽  
Linhong Ji ◽  
Steffen Leonhardt ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Lower Limb ◽  
Peak Torque ◽  
Hip Joints ◽  
Lower Limb Exoskeleton ◽  
Sit To Stand ◽  
Compliant Actuation

The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait. The prototype was tested in sit-to-stand and gait trials, in which the actuators were cascade-controlled with position trajectories. The compliant actuation of the hip in gait experiments proved to be more efficient; the peak torque was reduced by up to 31% and the RMS power was reduced by up to 36%.

scholarly journals A BMI Based on Motor Imagery and Attention for Commanding a Lower-Limb Robotic Exoskeleton: A Case Study

2021 ◽  
Vol 11 (9) ◽  
pp. 4106
Author(s):  
Laura Ferrero ◽  
Vicente Quiles ◽  
Mario Ortiz ◽  
Eduardo Iáñez ◽  
José M. Azorín
Keyword(s):  
Motor Imagery ◽  
Lower Limb ◽  
Motor Impairment ◽  
Wearable Devices ◽  
User Research ◽  
Robotic Exoskeleton ◽  
Lower Limb Exoskeleton ◽  
Average Accuracy ◽  
Preliminary Study

Lower-limb robotic exoskeletons are wearable devices that can be beneficial for people with lower-extremity motor impairment because they can be valuable in rehabilitation or assistance. These devices can be controlled mentally by means of brain–machine interfaces (BMI). The aim of the present study was the design of a BMI based on motor imagery (MI) to control the gait of a lower-limb exoskeleton. The evaluation is carried out with able-bodied subjects as a preliminary study since potential users are people with motor limitations. The proposed control works as a state machine, i.e., the decoding algorithm is different to start (standing still) and to stop (walking). The BMI combines two different paradigms for reducing the false triggering rate (when the BMI identifies irrelevant brain tasks as MI), one based on motor imagery and another one based on the attention to the gait of the user. Research was divided into two parts. First, during the training phase, results showed an average accuracy of 68.44 ± 8.46% for the MI paradigm and 65.45 ± 5.53% for the attention paradigm. Then, during the test phase, the exoskeleton was controlled by the BMI and the average performance was 64.50 ± 10.66%, with very few false positives. Participants completed various sessions and there was a significant improvement over time. These results indicate that, after several sessions, the developed system may be employed for controlling a lower-limb exoskeleton, which could benefit people with motor impairment as an assistance device and/or as a therapeutic approach with very limited false activations.

SWINGING LEG CONTROL OF A LOWER LIMB EXOSKELETON VIA A SHOE WITH IN-SOLE SENSING

2016 ◽  
Vol 40 (4) ◽  
pp. 657-666 ◽  
Author(s):  
Yanhe Zhu ◽  
Chao Zhang ◽  
Jizhuang Fan ◽  
Hongying Yu ◽  
Jie Zhao
Keyword(s):  
Motion Detection ◽  
Lower Limb ◽  
Weight Bearing ◽  
Human Motion ◽  
Plantar Surface ◽  
Lower Limb Exoskeleton ◽  
Time Motion ◽  
Human Motion Detection ◽  
Leg Motion

A lower limb exoskeleton can help in weight-bearing and walking to assist laborers doing heavy work. For exoskeleton-assisted walking, the wearing comfort and walking convenience are important so there must be minimal interference with leg movement. Hence, a peculiar design strategy based on an in-sole sensing shoe is presented to achieve real-time motion detection and follow-up control of the moving leg. Compared to the elastic muscle extension, the sensor must exhibit minimal deflection under load. Therefore, an ultra-thin structure integrating 6 bar linkages and 3 cantilevers has been used in the design of the in-sole sensing shoe which can detect force in two directions and torque in one. A swing phase experiment and a random leg motion test were carried out. Results show validity of human motion detection and follow-up control strategy based on this plantar surface sensor.

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