Estimation of Ground Reaction Forces Based on Knee Joint Acceleration of Lower-Limb Exoskeletons

Hsiao, Tesheng; Yip, Kinglam; Chiu, Yun-Jen

doi:10.1109/cacs50047.2020.9289732

Cited by 4 publications

(2 citation statements)

References 19 publications

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“…To create exoskeletons and wearable assistive devices for lower-limb support, it is essential to estimate the Ground Reaction Force (GRF) from the foot to the surface [27,28]. The estimation of GRFs using the 'MatScan(R)' (Tekscan, Inc. Norwood, United States) system plays a critical role in this study.…”

Section: B Ground Reaction Forcementioning

confidence: 99%

Lower Limb Exoskeleton With Energy-Storing Mechanism for Spinal Cord Injury Rehabilitation

Pillai,

Owatchaiyapong,

Treratanakulchai

et al. 2023

IEEE Access

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Statistics from the National Office for Empowerment of Persons with Disabilities (NEP) indicate that Spinal Cord Injury (SCI) is a major cause of disability in the Thai population. Various rehabilitation methods are available to support SCI patients. Assistive robots, such as exoskeletons and prosthetics, are very useful for improving quality of life. Robotic exoskeletons have evolved as rehabilitation methods that can overcome some of the current health-related effects of SCI. In the current study, a lowerlimb exoskeleton was developed to assist or rehabilitate a physically challenged person who has lost mobility owing to SCI. To overcome energy storage issues related to existing designs, the device uses a spring and camshaft system that is integrated with the robot structure to reduce the required energy by absorbing the body weight into spring potential energy and released by the cam design. Hence, the spring cam system significantly reduced torque on the joints, with approximately 17 − 30% reduction in the angle joint and 40 − 48% reduction in the knee joint. Control of the exoskeleton is carried out by analyzing brain signals (EEG) and eye movement signals (EOG), which are combined with the control system to perform daily activities, such as walking, turning, and standing. This exoskeleton boasts a maximum walking speed of 0.5 m/s and a remarkable two-hour full-load operation, making it a promising solution for enhancing the mobility and quality of life of individuals with SCI. The effectiveness of the developed exoskeleton in assisting individuals with mobility impairments was validated through comprehensive laboratory-level experimental analysis.

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Section: B Ground Reaction Forcementioning

confidence: 99%

Lower Limb Exoskeleton With Energy-Storing Mechanism for Spinal Cord Injury Rehabilitation

Pillai,

Owatchaiyapong,

Treratanakulchai

et al. 2023

IEEE Access

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“…GRF and pressure sensors are usually placed on the soles of the shoes and provide information about the vector of interaction forces with the ground. These data are used to find CoP for BAM and proper control of the PLLE [185]. They also provide information on foot configuration relative to the ground [186], or directly being used for force control methods [187].…”

Section: Sensorsmentioning

confidence: 99%

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Karami,

Maludrottu,

Vassallo

et al. 2023

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Powered Lower Limb Exoskeletons (PLLE) have attracted much interest due to their potential applications. They provide assistance for persons with disabilities to accomplish activities of daily living (ADL), and more importantly, assist them in achieving their rehabilitation goals. However, there is still uncertainty regarding the quality and benefits that PLLEs can offer to patients. This is due to limited usability and performance of current PLLEs, insufficient clinical use of PLLEs for different patients with high diversity in their disability type and impairment, and also the large gap between the technological state of the art and clinical expectations. In this study, we review and analyse various factors that can improve the effectiveness of PLLEs at yielding better assistance and rehabilitation training for patients with motor impairments. First, we define a set of criteria that characterize the majority of expectations for the rehabilitation and assistance domains and we use them for evaluating PLLEs depending on the context. Then, we include the effects of control strategies and combined approaches which include auxiliary devices such as functional electrical stimulation and smart crutches applied to PLLEs with regard to the criteria we defined.

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Simultaneous On-line Estimation of Model Parameters and the Wearer’s Joint Torque of Exoskeletons

Hsiao

Tsai

Juang

2021

2021 International Automatic Control Conference (CACS)

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Estimation of Ground Reaction Forces Based on Knee Joint Acceleration of Lower-Limb Exoskeletons

Cited by 4 publications

References 19 publications

Lower Limb Exoskeleton With Energy-Storing Mechanism for Spinal Cord Injury Rehabilitation

Lower Limb Exoskeleton With Energy-Storing Mechanism for Spinal Cord Injury Rehabilitation

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Simultaneous On-line Estimation of Model Parameters and the Wearer’s Joint Torque of Exoskeletons

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