Limited research has been done on exoskeletons to enable faster movements of the lower extremities. An exoskeleton’s mechanism can actually hinder agility by adding weight, inertia and friction to the legs; compensating inertia through control is particularly difficult due to instability issues. The added inertia will reduce the natural frequency of the legs, probably leading to lower step freq...

In this paper, a 6-DOF wearable upper limb exoskeleton with parallel actuated joints which perfectly mimics human motions is proposed. The upper limb exoskeleton assists the movement of physically weak people. Compared with the existing upper limb exoskeletons which are mostly designed using a serial structure with large movement space but small stiffness and poor wearable ability, a prototype ...

BACKGROUND When using upper limb exoskeletons that assist the movement of physically weak people, safety should be the most important index. OBJECTIVE In this paper, a passively safe, cable-driven upper limb exoskeleton with parallel actuated joints, which perfectly mimics human motions, is proposed. METHODS Compared with the existing upper limb exoskeletons which are mostly designed only c...

Lower-limb exoskeletons have the potential to enhance rehabilitation [1], assist in walking with gait impairments [2], reduce the metabolic cost of normal [3] and load-bearing walking [4], improve stability [5] and probe interesting questions about human locomotion [6]. The ankle produces larger peak torques and performs more positive work than either the hip or the knee during locomotion [7], ...

In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taking urgent safety action. Two FSR (force-sensitive resistors) sensors are used to measure the assistance force when the user is walking. The sensor ...

This paper presents a new approach to control a wearable knee joint exoskeleton driven through the wearer’s intention. A realistic bio-inspired musculoskeletal knee joint model is used to control the exoskeleton. This model takes into account changes in muscle length and joint moment arms as well as the dynamics of muscle activation and muscle contraction during lower limb movements. Identifica...

Assistance of the operator’s walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator’s ...

We developed an upper-limb power-assist exoskeleton actuated by pneumatic muscles. The exoskeleton included two metal links: a nylon joint, four size-adjustable carbon fiber bracers, a potentiometer and two pneumatic muscles. The proportional myoelectric control method was proposed to control the exoskeleton according to the user's motion intention in real time. With the feature extraction proc...

normal axial alignment restoration in lower extremities is crucial for surgeons performing reconstructive surgeries. since reference normal values of axial alignment are affected by age, sex, and ethical issues, we tried to scrutinize these parameters in iranian adults and compare them with normal values in literatures. through a cross-sectional design, standing axial alignment views of lower e...

Abstract Plantar pressure is the main mechanical parameter to understand human lower limb movement, which can fully show health status of spine, foot, leg and other regions.At present, researchers have carried out empirical analysis on rehabilitation training process limbs, but due defects guidance methods too vague evaluation indicators, it impossible conduct comprehensive monitoring feedback ...