Design of a Novel Compact Adaptive Ankle Exoskeleton for Walking Assistance

Shao, Yongbo; Zhang, Wuxiang; Xu, Kun; Ding, Xilun

doi:10.1007/978-3-030-20131-9_214

Cited by 5 publications

(9 citation statements)

References 15 publications

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“…The device can assist the walking process, allow the ankle to move freely, which is suitable for nearly all users. Shao et al 33 proposed an adaptive ankle exoskeleton for walking assistance. A new compact variable stiffness SEA (PVS-SEA) with nonlinear spring is developed.…”

Section: Knee Exoskeleton Robots (Kers)mentioning

confidence: 99%

Lower limb rehabilitation exoskeleton robot: A review

Zhou

Yang

Xue

2021

Advances in Mechanical Engineering

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Lower limb rehabilitation exoskeleton robots (LLRERs) play a positive role in lower limb rehabilitation and assistance for patients with lower limb disorders, and they are helpful to improve patients’ physical status. More and more experiments pay more attention to the kinematic and dynamic data characteristics of different patient groups. However, it is not clear whether these devices have broad adaptability and their clinical significance, so it is necessary to summarize and analyze these research results. This paper summarizes the LLRERs prototype and product in recent years, also compares the advantages and disadvantages of the theory and technology used in these research, and compares the functional characteristics of the devices, finally summarizes the aspects of the LLRERs to be improved. These devices apply advanced theories, techniques or structures, as well as human kinematics and dynamics data. However, due to the complexity of human body characteristics and movement rules, the theory or technology applied in the study design of LLRERs remains to be further studied, which can be improved in many aspects, such as improve the human-computer cooperation of equipment or carry out clinical trials. This paper can provide reference for researchers and designers in the future study, as well as understanding and selecting LLRERs for all kinds of therapist and patients.

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Section: Knee Exoskeleton Robots (Kers)mentioning

confidence: 99%

Lower limb rehabilitation exoskeleton robot: A review

Zhou

Yang

Xue

2021

Advances in Mechanical Engineering

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“…Brushed DC Motors Yes [234,235] No [67] Brushless DC Motors Yes [130] No [10,54,55,[59][60][61]136,152,153,188,207] Not Specified [236] Servo DC Motors No [137] Electric Motors (Type Not Specified) Yes [206] No [205] Dielectric Elastomer Polyimide Fibers Yes [94] PAEs are nonlinear systems highly subject to a variety of disturbances and uncertainties from the environment and the human user. The complex dynamics of the system and parameter perturbations make the control problem challenging in PAEs.…”

Section: Series Elasticmentioning

confidence: 99%

“…Phase-based control algorithms aim to track a desired ankle joint torque or angular movement based on the user’s gait phase and kinematic states, measured by a variety of mechanically intrinsic wearable sensors [ 10 , 37 , 38 , 39 , 40 , 41 , 43 , 49 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 , 63 , 64 , 65 , 66 , 67 , 68 , 69 , 70 , 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 , 79 , 80 , 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 , 95 , 96 ,…”

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

“…Phase-based control schemes are the most frequently utilized high-level algorithms in the reviewed literature due to the simplicity of the algorithms, though when used in their basic form they are not adaptive to individual needs and variations, or even gait mode alternations in the same individual. Phase-based control algorithms, therefore, have been combined with other bio-inspired control strategies to form hybrid high-level control hierarchies that allow for further adaptation and compliance with the user’s biomechanics and locomotion needs [ 37 , 54 , 80 , 83 , 86 , 117 , 118 , 141 ].…”

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

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Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

kian

Widanapathirana

Joseph

et al. 2022

Sensors

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Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance, rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their sensor systems. Human–machine interface sensors collect the biomechanical signals from the human user to inform the higher level of the control hierarchy about the user’s locomotion intention and requirement, whereas machine–machine interface sensors monitor the output of the actuation unit to ensure precise tracking of the high-level control commands via the low-level control scheme. The current article aims to provide a comprehensive review of how wearable sensor technology has contributed to the actuation and control of the PAEs developed over the past two decades. The control schemes and actuation principles employed in the reviewed PAEs, as well as their interaction with the integrated sensor systems, are investigated in this review. Further, the role of wearable sensors in overcoming the main challenges in developing fully autonomous portable PAEs is discussed. Finally, a brief discussion on how the recent technology advancements in wearable sensors, including environment—machine interface sensors, could promote the future generation of fully autonomous portable PAEs is provided.

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“…Shepherd and Rouse 9 designed a powered knee-exoskeleton to assist the sit-to-stand motion of the subject. Shao et al 10 proposed an ankle joint exoskeleton actuated with a series elastic actuator (SEA) having variable stiffness of the non-linear spring. This design is introduced to deal with the disadvantages of classical SEAs.…”

Section: Introductionmentioning

confidence: 99%

Preliminary design and development of a low-cost lower-limb exoskeleton system for paediatric rehabilitation

Narayan

Dwivedy

2021

Proc Inst Mech Eng H

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In this work, the design, modeling, and development of a low-cost lower limb exoskeleton (LLES) system are presented for paediatric rehabilitation (age: 8–12 years, mass: 25–40 kg, height: 115–125 cm). The exoskeleton system, having three degrees-of-freedom (DOFs) for each limb, is designed in the SolidWorks software. A wheel support module is introduced in the design to ensure the user’s stability and safety. The finite element analysis of the hip joint connector along with the wheel support module is realized for maximum loading conditions. The holding torque capacity of exoskeleton joints is estimated using an affordable spring-based experimental setup. A working prototype of the LLES is developed with holding torque rated actuators. Thereafter, the dynamic analysis for the human-exoskeleton coupled system is carried out using the Euler-Lagrange principle and SimMechanics model. The simulation results of estimating joint actuator torques are obtained for two paraplegic subjects (Case I: 10 years age, 30 kg mass, 120 cm height and Case II: 12 years age, 40 kg mass, 125 cm height). The details of input parameters such as body mass, link lengths, joint angles, and contact forces are discussed. The simulation results of dynamic analysis have shown the potential of estimating the torques of joint actuators for the developed prototype during motion assistance and gait rehabilitation.

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Design of a Novel Compact Adaptive Ankle Exoskeleton for Walking Assistance

Cited by 5 publications

References 15 publications

Lower limb rehabilitation exoskeleton robot: A review

Lower limb rehabilitation exoskeleton robot: A review

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

Preliminary design and development of a low-cost lower-limb exoskeleton system for paediatric rehabilitation

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