Toward Human-Powered Lower Limb Exoskeletons: A Review

Singla, Ashish; Dhand, Saurav; Dhawad, Ashwin; Virk, G.S.

doi:10.1007/978-981-13-0761-4_75

Cited by 10 publications

(3 citation statements)

References 22 publications

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“…The exoskeleton mostly divided into two categories which are portable and non-portable. Generally, the power source for portable exoskeleton is from a rechargeable battery such as Lithium-Ion, Nickel Metal Hydride (Ni-MH), and Nickel-Zinc (Ni-Zn) [19]. Many non-portable exoskeletons are either directly connected to an electric source through cables or are powered by huge batteries.…”

Section: A Power System Compartment Design Battery Selectionmentioning

confidence: 99%

Design and Analysis of a Lower Limb Exo-Skeleton Suit for Post Stroke Patient: Static and Ergonomic Analyses

Suhaimi

Ramli

2021

MEKATRONIKA

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This paper presents a study on the development of a lower limb exoskeleton suit (exo-suit) for post-stroke patients. The exo-suit is designed and developed for restoration of post-stroke patients' gait motion (ability to use their lower limb joints) and analysis on ergonomics and statics are also considered. The mechanical structure of the exo-suit is proposed according to the anatomy of Asian people with an average mass of eighty kilograms in order that it is fitted perfectly. The conceptual design is established and selected by a dedicated design matrix and compared using the matrix evaluation process, and then Computer-Aided Design (CAD) software CATIA is used to create the 3D model. The design has undergone an evaluation of static structural and ergonomic analysis via CATIA and ANSYS Finite Element Analysis (FEA) software. Two materials are used in the static structural analysis, one is aluminium alloy, the other is steel material. The result of equivalent stress for both materials is within the allowable range of 29.511MPa to 1168.4 MPa. For RULA (Rapid Upper Limb Assessment) Analysis, the results showed that all three postures (static, intermittent, and repeated) yield acceptable final score which is 1 for intermittent and 2 for static and repeated postures.

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Section: A Power System Compartment Design Battery Selectionmentioning

confidence: 99%

Design and Analysis of a Lower Limb Exo-Skeleton Suit for Post Stroke Patient: Static and Ergonomic Analyses

Suhaimi

Ramli

2021

MEKATRONIKA

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“…[1][2][3][4] The issues of simulating exoskeletons and anthropoid mechanisms with various actuators, including electric drives, are covered in the papers. [5][6][7][8][9][10] The studies are focused on some exoskeleton applications. These papers provide relevance and importance of exoskeleton development.…”

Section: Introductionmentioning

confidence: 99%

Electromechanical model of exoskeleton with three mobile links

et al. 2023

IJBSBE

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The article considers an electromechanical model of an exoskeleton with three links, for which a system of differential equations of motion is written and inverse and direct problems of dynamics are solved. The angles between the links that specify anthropoid motion are figured out analytically. The electric drive controlling torques are found as a result of solving the inverse dynamics problem. The found torques are approximated with stepwise piecewise-constant functions simulating the impulse control of the exoskeleton motion. The solution of the direct problem of dynamics is carried out and the link rotation angles as functions of time are found. The results of the numerical solution of the system of differential equations are compared with the initial motion of the links. It has been found that the results of simulation with impulse control are in good agreement with the original motion. The total energy expenditures have been calculated. The exoskeleton simulation, taking into account the electric drive impacts also has been carried out. For this purpose, a system of differential equations of motion has been compiled; a numerical solution of the Cauchy problem for the compiled system has been carried out. The significance of the electric drive impact on the dynamics of the mechanism has been confirmed.

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“…Here, the design of a new technique for identifying the gate phase is also discussed. Energy harvesting using human's daily actions is proposed to charge the battery of exoskeleton in [18]. Conventional and alternative methods for providing power to exoskeletons are discussed.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive and Flexible Brain Energized Full Body Exoskeleton With IoT Edge for Assisting the Paralyzed Patients

Jacob

Alagirisamy

Menon³

et al. 2020

IEEE Access

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The paralyzed population is increasing worldwide due to stroke, spinal code injury, post-polio, and other related diseases. Different assistive technologies are used to improve the physical and mental health of the affected patients. Exoskeletons have emerged as one of the most promising technology to provide movement and rehabilitation for the paralyzed. But exoskeletons are limited by the constraints of weight, flexibility, and adaptability. To resolve these issues, we propose an adaptive and flexible Brain Energized Full Body Exoskeleton (BFBE) for assisting the paralyzed people. This paper describes the design, control, and testing of BFBE with 15 degrees of freedom (DoF) for assisting the users in their daily activities. The flexibility is incorporated into the system by a modular design approach. The brain signals captured by the Electroencephalogram (EEG) sensors are used for controlling the movements of BFBE. The processing happens at the edge, reducing delay in decision making and the system is further integrated with an IoT module that helps to send an alert message to multiple caregivers in case of an emergency. The potential energy harvesting is used in the system to solve the power issues related to the exoskeleton. The stability in the gait cycle is ensured by using adaptive sensory feedback. The system validation is done by using six natural movements on ten different paralyzed persons. The system recognizes human intensions with an accuracy of 85%. The result shows that BFBE can be an efficient method for providing assistance and rehabilitation for paralyzed patients.

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Toward Human-Powered Lower Limb Exoskeletons: A Review

Cited by 10 publications

References 22 publications

Design and Analysis of a Lower Limb Exo-Skeleton Suit for Post Stroke Patient: Static and Ergonomic Analyses

Design and Analysis of a Lower Limb Exo-Skeleton Suit for Post Stroke Patient: Static and Ergonomic Analyses

Electromechanical model of exoskeleton with three mobile links

An Adaptive and Flexible Brain Energized Full Body Exoskeleton With IoT Edge for Assisting the Paralyzed Patients

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