Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. The scope of the present research is to study the integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an elbow joint, naturally controlled by th...

radial polydactyly, the most common digital duplication in asian and white populations, has a wide range of manifestations. its classification is useful for planning and assessing surgical treatment. our patient had four thumbs, duplicated radial carpal bones, and a bifurcated radius. this presentation is not covered by any of the current classifications. to the best of our knowledge, this is t...

This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot's mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic...

During bouncing gaits such as hopping and running, leg muscles generate force to enable elastic energy storage and return primarily from tendons and, thus, demand metabolic energy. In an effort to reduce metabolic demand, we designed two elastic leg exoskeletons that act in parallel with the wearer's legs; one exoskeleton consisted of a multiple leaf (MLE) and the other of a single leaf (SLE) s...

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...

this deformity is often reffered to as thumbclutched hand, but a better term is the congenital clasped thumb. the congenital clasped thumb is associated with several well-de-fined syndromes, although it may also present as an isolated abnormality. weckesser, reac, and heiple called it a syndrome and divided the syndrome in to four groups. in group i, the thumb is deficient in extention only. in...

In this study, removal of a transitional object (pillow) was applied as the sole intervention for one of two siblings who sucked their thumbs. The intervention was applied only to the older sibling, whereas data were collected on the thumb sucking of both participants. Results indicated that removal of the transitional object for the older sibling reduced thumb sucking in both siblings and incr...

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 ...