A wearable exoskeleton suit for motion assistance to paralysed patients

Chen, Bing; Zhong, Chun-Hao; Zhao, Xuan; Ma, Hao; Guan, Xiao; Li, Xi; Liang, Feng-Yan; Cheng, Jack C. Y.; Qin, Ling; Law, Sheung Wai; Liao, Wei-Hsin

doi:10.1016/j.jot.2017.02.007

Cited by 73 publications

(46 citation statements)

References 14 publications

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“…Electronic driver circuits control the current to control the torque. A use of DC motors as the major actuator in the robots can be found in (Zeilig et al, 2012;Esquenazi et al, 2012;Kong and Jeon, 2006;Colombo et al, 2000;Bernhardt et al, 2005;Araujo et al, 2015;Gloger et al, 2015;Mori et al, 2006;Marcheschi et al, 2011;Chen et al, 2017;2019).…”

Section: Motormentioning

confidence: 99%

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Hasan¹,

Dhingra²

2020

Journal of Mechatronics and Robotics

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The World Health Organization reports that about 1 billion people worldwide have some form of disability. Of these, 110-190 million people have significant difficulties in functioning. Providing rehabilitation services to a large number of disabled people with limited resources is quite challenging. Robot-based neurorehabilitation is an appealing solution for providing rehabilitation services without the downside of provider fatigue. Despite the importance of robot-based rehabilitation, a limited number of resources are readily available related to the technical challenges that need to be addressed in designing human lower extremity rehabilitation robots? This paper tries to fill up the technical gaps by explaining lower extremity anatomy, probable causes of lower extremity disability, rehabilitation protocols and fundamental safety and ergonomic features that need to be considered during the design/selection of an exoskeleton robot. A comprehensive review of the state-of-the-art sensing and actuation technologies involved in human lower extremity exoskeleton robots is also presented to familiarize the reader with current technologies. It is hoped that a comprehensive coverage of all relevant anatomical, anthropometric, actuation and sensing aspects of lower extremity exoskeleton robots will help the designer come up with the best possible solution for a specific application.

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Section: Motormentioning

confidence: 99%

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Hasan¹,

Dhingra²

2020

Journal of Mechatronics and Robotics

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“…Exoskeleton robot, as a burgeoning rehabilitation technology, has been greatly developed in recent years [7] . Exoskeleton robot is a kind of wearable bionic device, which integrates rehabilitation medicine, robotics and arti cial intelligence [8] . Its application in the eld of rehabilitation medicine is a research hotspot in various countries [9] .…”

Section: Introductionmentioning

confidence: 99%

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Wang¹,

Yu²,

Hui-min³

et al. 2020

Preprint

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Background In recent years, the number of people suffering from stroke-induced motor function lost increased considerably. Recovery of motility is essential in improving their quality of life. However, the existing rehabilitation methods cannot fulfill patients’ training requirements. As a new rehabilitation technology, exoskeleton robot provides a new treatment scheme for post-stroke hemiplegic patients. Objective To explore the safety and effectiveness of exoskeleton-assisted gait training for post-stroke hemiplegic patients. Methods A lower extremity hip joint exoskeleton robot was designed by the cooperation team, and 9 post-stroke hemiplegic patients were included for exoskeleton-assisted gait training. The three-dimensional gait parameters, plantar pressure and surface electromyography were used to validate the effectiveness of the exoskeleton robot in post-stroke hemiplegic patients. Results Exoskeleton-assisted ambulation training for post-stroke hemiplegic patients can correct the asymmetry of gait and abnormal phase of gait cycle, increase the toe-ground clearance and the angle of hip joint, reduce the pressure of non-paretic plantar and the impulse of bilateral feet, which help balance the plantar pressure distribution. It can also improve the integral electromyography value of specific muscle, which means that corresponding muscles are stimulated to generate activities. Conclusions The exoskeleton robot designed by our team can correct the hemiplegic gait and foot drop phenomenon of post-stroke patients, protecting them from damage caused by long-term abnormal gait, which contributes to the recovery of lower extremity motor function in hemiplegic patients. The results also provide important information for the design of lower extremity exoskeleton robot. In the future, we should further explore the rehabilitation function of exoskeleton robot in post-stroke hemiplegic patients, as well as the ambulation and rehabilitation function in other lower extremity motor dysfunction patients.

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“…In the past few decades, signifi cant progress has been made in the development of exoskeletons, which are mobile bionic devices that expand human capabilities and facilitate physical activity by providing active or passive help to the muscles of the body [1][2][3]. Their use has become noticeable in many areas of human life [4][5][6], especially in medicine [7,8], where exoskeletons allow people with impaired musculoskeletal functions gaining the ability to move independently performing everyday tasks [9,10].…”

Section: Introductionmentioning

confidence: 99%

Development of a method and instruments to assess the build quality and the technical condition of an electric gear actuator for an electromechanical orthosis of a lower limb exoskeleton

Belogusev¹,

Егоров²

2019

J Appl Eng Science

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This paper proposes a method and instruments for assessing the build quality and the technical condition of an electric gear actuator for an exoskeleton based on determining its starting torque as one of the main indicators of the level of degradation of its components. Existing methods are mainly based on identifying starting torque with the help of additional devices that require involvement of an operator in the measurement process, which increases its time and labor costs and makes it diffi cult to be automated. As opposed to the existing methods and instruments, the method and hardware-software complex developed in this study allow automating the measurement process, does not require expensive equipment, and has potential for conducting technical state control without dismounting an actuator from an exoskeleton. In the experimental part of this paper, the proposed method and tools were evaluated on the basis of electric actuators with reduction gears for an electromechanical orthosis of a lower limb exoskeleton. According to the experimental results, the discrepancy between the values of starting torque obtained separately by an existing method and by the proposed one is within 1.8%, which confi rms the effi cacy and applicability of the developed method for monitoring the technical condition of electric actuators for exoskeletons both at the stage of their production and during their operation.

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A wearable exoskeleton suit for motion assistance to paralysed patients

Cited by 73 publications

References 14 publications

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Development of a method and instruments to assess the build quality and the technical condition of an electric gear actuator for an electromechanical orthosis of a lower limb exoskeleton

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