This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design...

In October 2003, the first functional load-bearing and energetically autonomous exoskeleton was demonstrated at Berkeley, walking at the average speed of two miles per hour while carrying 75 pounds of load. DARPA funded the Berkeley Lower Extremity Exoskeleton (BLEEX) project in 2000 at Berkeley. In general, four fundamental technologies were tackled during the course of this project. These fou...

We present an overview of the work devoted to exoskeletons which has been performed for the last seven years at TU Berlin. Three different types of exoskeleton devices have been developed: hand and finger exoskeletons for rehabilitation, a leg exoskeleton for motion support, and an arm exoskeleton for multimodal human-computer interaction. The research has been focused on different types of con...

In recent years, surface electromyography (sEMG) signals which reflect directly human muscle activity have played a significant role in control of a lower extremity exoskeleton system. Our study concentrates on simulation and processing techniques of sEMG signal that we are applying to our exoskeleton robot. Simulation and experiment results are presented and analyzed deeply to validate the tec...

Content of mercury in hepatopancreas, muscle and exoskeleton of blue crab T. prymna from Musa estuary and their relationship with size of the organism and season were determined. Mean concentration of mercury in hepatopancreas, muscle and exoskeleton were 1.23, 0.61 and 0.41 µg/g dw, respectively. There was significant difference (p<0.05) in mercury levels depending on the sex with greater ...

‡ [email protected] Abstract—In order * to widen the potentialities of manipulation of the LMS mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. Its kinematics architecture and dimensions are identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very q...

This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller ...

In Robot-Assisted Rehabilitation (RAR) the accurate estimation of the patient limb joint angles is critical for assessing therapy efficacy. In RAR, the use of classic motion capture systems (MOCAPs) (e.g., optical and electromagnetic) to estimate the Glenohumeral (GH) joint angles is hindered by the exoskeleton body, which causes occlusions and magnetic disturbances. Moreover, the exoskeleton p...

The goal of this study was to gain insight into how ankle exoskeletons affect the behavior of the plantarflexor muscles during walking. Using data from previous experiments, we performed electromyography-driven simulations of musculoskeletal dynamics to explore how changes in exoskeleton assistance affected plantarflexor muscle-tendon mechanics, particularly for the soleus. We used a model of m...

The anticipated effects of CO2-induced ocean acidification on marine calcifiers are generally negative, and include dissolution of calcified elements and reduced calcification rates. Such negative effects are not typical of crustaceans for which comparatively little ocean acidification research has been conducted. Crustaceans, however, depend on their calcified exoskeleton for many critical fun...