Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance

Ma, Liang; Leng, Yuquan; Jiang, Wei; Qian, Yuepeng; Fu, Chenglong

doi:10.1109/lra.2021.3124081

Cited by 17 publications

(6 citation statements)

References 22 publications

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“…Concerning RQ1, various models, technologies, and types of exoskeletons have been identified that have been categorized by their type of assistance in exoskeletons for the knee, walking, posture, the lumbar area, and the arms [20,25,[34][35][36]. Classifications have been proposed according to the action performed by exoskeletons [39][40][41][42], structure types [43,44], and actuator technologies used to provide assistance and support to the user [45].…”

Section: Discussionmentioning

confidence: 99%

“…Figure 5 presents the exoskeletons categorized into two groups; the body-part-focused category presents exoskeletons according to the part of the body for which they have been designed; the developments have focused mainly on the whole body [25,38], upper extremities [39,40], lower extremities, and for specific limbs such as the leg, hand, and arm [41,42]. According to the kinematic structure, the second type has two categories: soft and rigid [20].…”

Section: Developments In Exoskeletons For Occupational Health and Safetymentioning

confidence: 99%

“…A fourth category of those that have presented more current developments corresponds to actuators based on muscles formed by multifilaments driven by electrical energy, allowing muscle traction and compression according to the temperature in these polymers. According to the action, the developments have three subcategories: passive [42], semi-active, and active [43]. The category of active exoskeletons refers to systems that employ actuators driven with additional energy, such as pneumatic and hydraulic actuators [44,45].…”

Section: Developments In Exoskeletons For Occupational Health and Safetymentioning

confidence: 99%

See 2 more Smart Citations

Exoskeletons: Contribution to Occupational Health and Safety

Flor-Unda,

Casa,

Fuentes

et al. 2023

Bioengineering

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This review aims to characterize the current landscape of exoskeletons designed to promote medical care and occupational safety in industrial settings. Extensive exploration of scientific databases spanning industries, health, and medicine informs the classification of exoskeletons according to their distinctive attributes and specific footholds on the human physique. Within the scope of this review, a comprehensive analysis is presented, contextualizing the integration of exoskeletons based on different work activities. The reviewers extracted the most relevant articles published between 2008 and 2023 from IEEE, Proquest, PubMed, Science Direct, Scopus, Web of Science, and other databases. In this review, the PRISMA-ScR checklist was used, and a Cohen’s kappa coefficient of 0.642 was applied, implying moderate agreement among the reviewers; 75 primary studies were extracted from a total of 344. The future of exoskeletons in contributing to occupational health and safety will depend on continued collaboration between researchers, designers, healthcare professionals, and industries. With the continued development of technologies and an increasing understanding of how these devices interact with the human body, exoskeletons will likely remain valuable for improving working conditions and safety in various work environments.

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Section: Discussionmentioning

confidence: 99%

Section: Developments In Exoskeletons For Occupational Health and Safetymentioning

confidence: 99%

Section: Developments In Exoskeletons For Occupational Health and Safetymentioning

confidence: 99%

See 1 more Smart Citation

Exoskeletons: Contribution to Occupational Health and Safety

Flor-Unda,

Casa,

Fuentes

et al. 2023

Bioengineering

View full text Add to dashboard Cite

show abstract

“…It is important to note that the threshold-based joint angle or angular velocity detection methods belong to the category of event-triggered recognition and are outside the scope of this subsection. For joint angle detection, we can use encoders or IMU sensors to obtain the inclination angle of human motion joints [31,32], and then the data obtained from the sensors can be used to divide the gait cycle by machine learning and other methods to obtain more accurate gait phases, in addition, we can also combine pressure sensors for human motion posture recognition [33].…”

Section: Angle Posture-based Recognitionmentioning

confidence: 99%

Review of Human-exoskeleton Control Strategy for Lower Limb Rehabilitation Exoskeleton

Long

Guo

Chi

et al. 2023

J. Phys.: Conf. Ser.

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The research on exoskeleton robots has been widely carried out for many years around the world, especially the development of new-style lower limb exoskeletons for rehabilitation and assistance is one of the key research directions. The focus on the control system of lower limb exoskeletons for rehabilitation is discussed. Based on the public literature in recent years, it is summarized from three aspects, i.e., movement mode switching, human gait recognition and human-exoskeleton interaction control. Finally, the technical issues of the current lower limb rehabilitation exoskeleton control strategy are discussed. The future development prospects and research directions of the lower limb rehabilitation exoskeleton are prospected, and some suggestions on how to achieve a more efficient and accurate control are given.

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“…Their experiment verified that DDPC outperforms the PID controller in trajectory tracking with different conditions. Liang Ma et al [10] proposed an underactuated soft exoskeleton by using a single motor to assist knee extension and ankle plantarflexion. The experimental results show that the exoskeleton device is helpful to produce sequential assistive force at each joint effectively.…”

Section: Introductionmentioning

confidence: 99%

Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton

Sun

Jing

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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Due to the complexity of terrain in natural environments, the soft exoskeleton cannot adaptively adjust parameters to achieve the optimal performance. To this end, a design for a soft exoskeleton assistive force parameter optimization method on multi-terrains is presented in this paper. Firstly, the core control parameters are determined by analyzing the system's motion dynamics. Then, the collected data from inertial measurement unit (IMU) is transferred to the convolutional neural network (CNN) to recognize the certain terrain. In the meanwhile, the control parameters corresponding to the different terrains are optimized by the Bayesian algorithm. Finally, the optimal assistive force parameters are transferred to the system for improving the performance of the soft exoskeleton. The experiment is conducted on three participants, wherein the net metabolic rates of the subjects are compared with and without the assistive force. The final results show that the metabolic rates of the subjects reduce the average value of 19.6% on flat ground, 11.6% on walking uphill, and 12.7% on walking upstairs. The experimental results confirm the effectiveness of the proposed method.

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Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance

Cited by 17 publications

References 22 publications

Exoskeletons: Contribution to Occupational Health and Safety

Exoskeletons: Contribution to Occupational Health and Safety

Review of Human-exoskeleton Control Strategy for Lower Limb Rehabilitation Exoskeleton

Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton

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