scholarly journals Mechanical Design of Knee and Ankle Exoskeleton to Help Patients with Lower Limb Disabilities

2019 ◽  
Author(s):  
Ignatius Deo Putranto ◽  
Eka Budiarto ◽  
Lydia Anggraeni Kidarsa
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Ankle Exoskeleton

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

scholarly journals Model-based mechanical design of a passive lower-limb exoskeleton for assisting workers in shotcrete projection

Meccanica ◽  
2020 ◽  
Author(s):  
Stefano L. Capitani ◽  
Matteo Bianchi ◽  
Nicola Secciani ◽  
Marco Pagliai ◽  
Enrico Meli ◽  
...  
Keyword(s):  
Construction Industry ◽  
Lower Limb ◽  
Mechanical Design ◽  
The Other ◽  
Whole Body ◽  
Site Assessment ◽  
Lower Limb Exoskeleton ◽  
Heavy Loads ◽  
Assistance Tool ◽  
Concrete Reinforcement

AbstractDespite the current industrial trend towards automation, many workers are still daily exposed to heavy loads during their duties. Regarding the construction industry, the shotcrete projection results in a particularly arduous whole-body effort for the so-called “concrete reinforcement workers”. In this paper, the design of a passive robotic human assistance tool to assist workers in dealing with the specific task of shotcrete projection will be described. If the design of an effective aid plays a crucial role in improving the job’s quality, following the guidelines given by the French company Eiffage Infrastructures; besides, the acceptance of the proposed solution shall have special consideration. Therefore, starting from an in-site assessment of the scenario, the presented solution has been profoundly adjusted to address the issues coming from this particular task. The exoskeleton adaptability to different lower-limb activities has been preserved without lowering its comfort during daily life in the working area. The developed solution’s operation range has been specifically optimized to assist the worker during specific efforts without hindering the other movements.

An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop

2020 ◽  
Author(s):  
Lizzette J. Salmeron ◽  
Gladys V. Juca ◽  
Satesh M. Mahadeo ◽  
Jiechao Ma ◽  
Shuangyue Yu ◽  
...  
Keyword(s):  
Cerebral Palsy ◽  
Mechanical Design ◽  
Load Test ◽  
Foot Drop ◽  
Pneumatic System ◽  
Pneumatic Actuator ◽  
Soft Robot ◽  
Complex Control ◽  
Ankle Exoskeleton

Abstract Individuals with foot drop caused by stroke or cerebral palsy (CP) have a particular need for robotic ankle exoskeleton. This paper proposes an untethered soft robot using an origami actuator to lift the toes of the wearer. The weight, connections, and complex control of the system are reduced through mechanical design. A compact and portable pneumatic system is designed to perform suction and compression with a single pump. The load test of the actuator shows the capability of 300N in 30 kPa. An untethered, simple and affordable robotic ankle exoskeleton is developed with the pneumatic actuator. The wearer can finish its simple 3-step donning procedure within 1 min.

scholarly journals Design of Lower Limb Exoskeleton using Gearbox for Rehabilitation of Paralyzed Patients

2020 ◽  
Vol 9 (5) ◽  
pp. 112-115
Keyword(s):  
Dynamic Analysis ◽  
Lower Limb ◽  
Mechanical Design ◽  
Design Procedure ◽  
Primary Analysis ◽  
Static And Dynamic Analysis ◽  
Lower Limb Exoskeleton ◽  
Standard Design ◽  
Cord Injury ◽  
Paralyzed Patient

The number of people with mobility disorder cause by stroke spinal cord injury or related disease is increasing rapidly.To improve quality of life of this people device that can assist them to regain the ability to work are of great demand. Robotic devices are generally used for purpose.The aim of this paper is to present the design and analysis of lower limb exoskeletons.The Exoskeleton is designed by Mechanical Design Procedure for linkages and against the Position values obtained from Gait Analysis.The Gearbox is designed using standard design procedure. This exoskeleton work on the principle of robotics by using sensors, actuator like DC motor. Gait analysis is used as a primary analysis followed by static and dynamic analysis of designed model.Static and Dynamic Analysis is performed in ANSYS Workbench. This exoskeleton will be used for paralyzed patient (paraplegia)as well as for the people who have had accidents for lower body.The limitation of this work is the same exoskeleton cannot be used for all person and a small defect in sensor and other electronic devices will stop the exoskeleton. Using this exoskeleton a paralyzed patient will be able to rehabilitate they will be able to perform stand to sit motion.

ACE-Ankle: A Novel Sensorized RCM (Remote-Center-of-Motion) Ankle Mechanism for Military Purpose Exoskeleton

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2209-2228 ◽  
Author(s):  
Man Bok Hong ◽  
Gwang Tae Kim ◽  
Yeo Hun Yoon
Keyword(s):  
Range Of Motion ◽  
Lower Limb ◽  
Inverse Kinematic ◽  
Ankle Motion ◽  
Lower Limb Exoskeleton ◽  
Rotation Center ◽  
Walking Motion ◽  
Potential Risks ◽  
Ankle Exoskeleton ◽  
Three Degree Of Freedom

SummaryThis paper presents a novel three-degree of freedom (DOF) sensorized remote-center-of-motion (RCM) ankle module for a military-purpose lower-limb exoskeleton. A military-purpose exoskeleton should assist and follow the fast and dexterous motion of a soldier in rough terrain environments. Among the lower-limb joints, the ankle joint plays an important role in stabilizing walking motion during the stance phase. Thus, aligning the rotation center of the ankle module with the center of the wearer’s ankle is very important to reduce potential risks and fatigue of a soldier. To this end, the ankle exoskeleton was designed using two spherical chains. The two spherical chains were designed such that the intersection of all revolute pairs, which consist of the spherical chains, is located close to the rotation center of the wearer’s ankle. In addition, three encoders are attached to each of the three revolute pairs of a spherical chain to measure the three-DOF orientation of the ankle mechanism. For the design, the required range of motion is analyzed via gait analysis in three environment conditions. Forward and inverse kinematic relations are derived, and the workspace of the ankle is analyzed. For the prototype ankle mechanism, the range of motion and measurement performance are verified by a static experiment. In addition, comparative studies between the proposed RCM ankle and an ankle mechanism with offset rotation center are performed for three walking conditions: level walking, ascending and descending stairs, and a vertical slope. Via comparative study, it is confirmed that, compared to the ankle mechanism with offset center of rotation, the proposed RCM ankle is advantageous for sensing wearer’s ankle motion and reducing mechanical interference to wearer’s natural ankle motion.

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