This paper proposed a bilateral upper-limb rehabilitation device (BULReD) with two degrees of freedom (DOFs). The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as ...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

We propose a novel class of unsupervised learning-based algorithms that extend the conditional restricted Boltzmann machine to predict, in real-time, a lower limb exoskeleton wearer’s intended movement type and future trajectory. During training, our algorithm automatically clusters unlabeled exoskeletal measurement data into movement types. Our predictor then takes as input a short time series...

Theoretical control algorithms are developed and an experimental system is described for 6-dof kinesthetic force/moment feedback to a human operator from a remote system. The remote system is a common six-axis slave manipulator with a force/torque sensor, while the haptic interface is a unique, cable-driven, seven-axis, force/moment-reflecting exoskeleton. The exoskeleton is used for input when...

Although previous studies have shown that powered exoskeletons reduce muscle activation while walking across participants, less is known about how they impact an individual’s activation. This study examined activity during with a ankle exoskeleton. The designed human-exoskeleton coordination was defined as decrease in medial gastrocnemius (MGAS) the exoskeleton and increase unpowered. 60% of pa...

Proprioceptive signals from peripheral mechanoreceptors form the basis for bodily perception and are known to be essential for motor control. However we still have an incomplete understanding of how proprioception differs between joints, whether it differs among the various degrees-of-freedom (DoFs) within a particular joint, and how such differences affect motor control and learning. We here i...

The health care system needs to face new and advanced medical technologies that can improve the patients' quality of life by replacing lost or decreased functions. In stroke patients, the disabilities that follow cerebral lesions may impair the mandatory daily activities of an independent life. These activities are dependent mostly on the patient's upper limb function so that they can carry out...

Wearable robotic systems are being developed to prevent injury to the low back. Designing a wearable robotic system is challenging because it is difficult to predict how the exoskeleton will affect the movement of the wearer. To aid the design of exoskeletons, we formulate and numerically solve an optimal control problem (OCP) to predict the movements and forces of a person as they lift a 15 kg...

Specialized mechanical connection between exoskeleton and underlying muscles in arthropods is a complex network of interconnected matrix constituents, junctions and associated cytoskeletal elements, which provides prominent mechanical attachment of the epidermis to the cuticle and transmits muscle tensions to the exoskeleton. This linkage involves anchoring of the complex extracellular matrix c...