Mobile Exoskeleton for Spinal Cord Injury: Development and Testing

Strausser, Katherine A.; Swift, Timothy; Zoss, Adam; Kazerooni, H.; Bennett, Bradford C.

doi:10.1115/dscc2011-6042

Cited by 49 publications

(30 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…1, together with the simplified CAD data of the robot. The system includes a conventional lower body exoskeleton that can provide assistance through hip and knee F/E (Flexion/Extension) joints, in a similar manner to several commercially available devices [1]- [3]. In order to address high-fidelity torquecontrol capability, it is powered via custom-built series elastic actuators [22].…”

Section: A Exoskeleton Structurementioning

confidence: 99%

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Uğurlu

Acer

Barkana

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

View full text Add to dashboard Cite

In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.

show abstract

Section: A Exoskeleton Structurementioning

confidence: 99%

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Uğurlu

Acer

Barkana

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

View full text Add to dashboard Cite

show abstract

“…Lokomat [ 10 ], LOPES [ 9 ], ALEX [ 36 ], ARTHuR [ 37 ]) and exoskeletons for overground walking (e.g. Vanderbilt [ 38 ], Kinesis [ 39 ], ReWalk [ 40 ], Ekso [ 41 ], H2 [ 42 ], Vlexo [ 43 ]) usually embed potentiometers or encoders in the robotic joints to measure joint angles. Nevertheless, the only method for pROM assessment in a gait trainer available for clinical use is implemented in the Lokomat: the procedure requires the therapist to move the limbs of the patient strapped in the device [ 44 ].…”

Section: Range Of Motionmentioning

confidence: 99%

Robot-aided assessment of lower extremity functions: a review

Maggioni

Melendez-Calderon

Asseldonk

et al. 2016

J NeuroEngineering Rehabil

View full text Add to dashboard Cite

The assessment of sensorimotor functions is extremely important to understand the health status of a patient and its change over time. Assessments are necessary to plan and adjust the therapy in order to maximize the chances of individual recovery. Nowadays, however, assessments are seldom used in clinical practice due to administrative constraints or to inadequate validity, reliability and responsiveness. In clinical trials, more sensitive and reliable measurement scales could unmask changes in physiological variables that would not be visible with existing clinical scores.In the last decades robotic devices have become available for neurorehabilitation training in clinical centers. Besides training, robotic devices can overcome some of the limitations in traditional clinical assessments by providing more objective, sensitive, reliable and time-efficient measurements. However, it is necessary to understand the clinical needs to be able to develop novel robot-aided assessment methods that can be integrated in clinical practice.This paper aims at providing researchers and developers in the field of robotic neurorehabilitation with a comprehensive review of assessment methods for the lower extremities. Among the ICF domains, we included those related to lower extremities sensorimotor functions and walking; for each chapter we present and discuss existing assessments used in routine clinical practice and contrast those to state-of-the-art instrumented and robot-aided technologies. Based on the shortcomings of current assessments, on the identified clinical needs and on the opportunities offered by robotic devices, we propose future directions for research in rehabilitation robotics. The review and recommendations provided in this paper aim to guide the design of the next generation of robot-aided functional assessments, their validation and their translation to clinical practice.

show abstract

“…[5][6][7][8][9][10][11][12] A lot of studies about the lower-limb exoskeletons have been developed to assist the impaired populations. Several commercial devices including Rewalk TM ; 13,14 Ekso TM ; 15,16 HAL r ; [17][18][19][20] and Indego TM ; [21][22][23][24][25] are on the market. Mina v2 [26][27][28] (Florida Institute for Human and Machine Cognition, USA) and WalkON Suit 29,30 (Sogang University, South Korea) are the representational devices of universities and other research establishments.…”

Section: Introductionmentioning

confidence: 99%

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

Zheng

Liu

Wang

et al. 2019

J. Mech. Med. Biol.

View full text Add to dashboard Cite

Lower-limb exoskeletons are an effective means to provide paraplegic and hemiplegic individuals with the ability to walk upright. A lot of studies about lower-limb exoskeletons have been developed to assist the impaired populations. However, the existing devices are still too technically complex and expensive for practicality. In this paper, a compact lower-limb exoskeleton for walking assistance is developed, in which a steel-cable actuator is specially designed. In order to accomplish the different tasks presented to gait generation, a control method with multiple stages is employed. In this approach, four basic states and seven intended motions are designed for the finite-state machine. In addition, the reference trajectories of these intended motions are presented and fitted by a modified first-order polynomialfitting method. Preliminary motion tests of the exoskeleton with three healthy subjects are performed. The results verify the effectiveness of the system design and the gait-generation approach proposed in this paper. The overall exoskeleton system is compact and the corresponding operations are convenient and reliable.

show abstract

Mobile Exoskeleton for Spinal Cord Injury: Development and Testing

Cited by 49 publications

References 0 publications

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Robot-aided assessment of lower extremity functions: a review

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

Contact Info

Product

Resources

About