Design of an electrically actuated lower extremity exoskeleton

Zoss, Adam; Kazerooni, H.

doi:10.1163/156855306778394030

Cited by 146 publications

(75 citation statements)

References 10 publications

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“…Researchers have used inverse dynamics analysis to design exoskeletons that approximate normal human joint kinematic and kinetic patterns 21,22 . Inverse dynamics analysis could be further employed to identify compensatory coordination strategies that increase the cost of locomotion with the exoskeleton.…”

Section: 14mentioning

confidence: 99%

A Physiologist's Perspective on Robotic Exoskeletons for Human Locomotion

Ferris

Sawicki

Daley

2007

Int. J. Human. Robot.

161

108

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Technological advances in robotic hardware and software have enabled powered exoskeletons to move from science fiction to the real world. The objective of this article is to emphasize two main points for future research. First, the design of future devices could be improved by exploiting biomechanical principles of animal locomotion. Two goals in exoskeleton research could particularly benefit from additional physiological perspective: 1) reduction in the metabolic energy expenditure of the user while wearing the device, and 2) minimization of the power requirements for actuating the exoskeleton. Second, a reciprocal potential exists for robotic exoskeletons to advance our understanding of human locomotor physiology. Experimental data from humans walking and running with robotic exoskeletons could provide important insight into the metabolic cost of locomotion that is impossible to gain with other methods. Given the mutual benefits of collaboration, it is imperative that engineers and physiologists work together in future studies on robotic exoskeletons for human locomotion.

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Section: 14mentioning

confidence: 99%

A Physiologist's Perspective on Robotic Exoskeletons for Human Locomotion

Ferris

Sawicki

Daley

2007

Int. J. Human. Robot.

161

108

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“…The high efficiency, smoothness and fast response of motoractivating actuators makes them more suitable for the application of power to RGO-type devices than other forms of force application. 8 Powered orthoses have been developed for walking by SCI patients since 1960. Ruthenberg et al built an orthosis with two degrees of freedom of movement.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Arazpour

Chitsazan²,

Hutchins³

et al. 2012

Prosthetics &Amp; Orthotics International

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Background:The aim of this case study was to identify the effect of a powered hip orthosis on the kinematics and temporal-spatial parameters of walking by a patient with spinal cord injury (SCI). Case Description and Methods: Two orthoses were evaluated while worn by an incomplete SCI subject with a T-8level of injury. Gait evaluation was performed when walking with an Isocentric Reciprocating Gait Orthosis (IRGO) and compared to that demonstrated by a newly powered version of the orthosis; based on the IRGO superstructure but incorporating powered hip joints using an electrically motorized actuator that produced active hip joint extension and flexion. Findings and Outcomes: The powered hip orthosis, when compared to the IRGO, increased the speed of walking, the step length and also the cadence demonstrated by this subject. Vertical and horizontal compensatory motions with new orthosis decreased. Hip angles when walking with this orthosis were comparative to those demonstrated by normal walking patterns. Conclusions: The hip actuator produced positive effects on the kinematics and temporal-spatial parameters of gait during level-ground walking trials, resulting in an alternative approach to walking by SCI patients. Clinical relevanceThis orthosis has the potential to improve hip joint kinematics, the temporal-spatial parameters of gait in SCI patients walking.

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“…In the movement of the human body, the torque output needed by a joint often requires promotion along with an increase of a joint angle [9]. Level-walking torque is far less than the torque needed when climbing a steep hill or complex terrain.…”

Section: Kinematics Modelingmentioning

confidence: 99%

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints

Zhang¹,

Liu²,

Ma³

et al. 2017

THC

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Abstract. In this paper, an obstacle-surmounting-enabled lower limb exoskeleton with novel linkage joints that perfectly mimicked human motions was proposed. Currently, most lower exoskeletons that use linear actuators have a direct connection between the wearer and the controlled part. Compared to the existing joints, the novel linkage joint not only fitted better into compact chasis, but also provided greater torque when the joint was at a large bend angle. As a result, it extended the angle range of joint peak torque output. With any given power, torque was prioritized over rotational speed, because instead of rotational speed, sufficiency of torque is the premise for most joint actions. With insufficient torque, the exoskeleton will be a burden instead of enhancement to its wearer. With optimized distribution of torque among the joints, the novel linkage method may contribute to easier exoskeleton movements.

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Design of an electrically actuated lower extremity exoskeleton

Cited by 146 publications

References 10 publications

A Physiologist's Perspective on Robotic Exoskeletons for Human Locomotion

A Physiologist's Perspective on Robotic Exoskeletons for Human Locomotion

Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints

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