We present a design study for a lower-limb exoskeleton using model-based optimization techniques. A physically realistic combined human-exoskeleton model is fitted to data of regular human walking motions in different conditions using a least squares optimal control formulation. This helps to determine which torques would be required to make the human-exoskeleton system follow desired motions a...

We used a lower limb robotic exoskeleton controlled by the wearer's muscle activity to study human locomotor adaptation to disrupted muscular coordination. Ten healthy subjects walked while wearing a pneumatically powered ankle exoskeleton on one limb that effectively increased plantar flexor strength of the soleus muscle. Soleus electromyography amplitude controlled plantar flexion assistance ...

INTRODUCTION People often change their coordination strategies as they learn to walk with ankle exoskeletons [1], yet most current exoskeleton control approaches do not appropriately account for these changes. Timebased assistance techniques, in which the exoskeleton is actuated at a specific point in the gait cycle [2, 3], keep device behavior static regardless of human adaptation. Proportiona...

A gravity balancing lower extremity exoskeleton is a simple mechanical device composed of rigid links, joints and springs, which is adjustable to the geometry and inertia of the leg of a human subject wearing it. This passive exoskeleton does not use any motors or controllers, yet can still unload the human leg joints of the gravity load over the full range of motion of the leg. The underlying ...

The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D Reappearance of a complete gait was achieved. Finally,...

Techniques proposed for assisting locomotion with exoskeletons have often included a combination of active work input and passive torque support, but the physiological effects of different assistance techniques remain unclear. We performed an experiment to study the independent effects of net exoskeleton work and average exoskeleton torque on human locomotion. Subjects wore a unilateral ankle e...

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains...

The design of a wearable robotic exoskeleton needs to consider the interaction, either physical or cognitive, between the human user and the robotic device. This paper presents a method to analyse the interaction between the human user and a unilateral, wearable lower-limb exoskeleton. The lower-limb exoskeleton function was to compénsate for muscle weakness around the kneejoint. It isshown tha...

this paper describes the design and kinematic analysis of a 5 DOF upper limb powered robotic exoskeleton for rehabilitation of the patients who survived stroke and the elderly who do not have enough strength to move their limbs freely. It was observed that the existing upper extremity exoskeletons were bulky and heavy which made them limited to applications and the complexity of the system incr...

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, ...