Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance

Hyun, Dong Jin; Park, Hyunseok; Ha, Tae-Jun; Park, Sangin; Jung, Kyeong-Ah

doi:10.1016/j.robot.2017.06.010

Cited by 80 publications

(30 citation statements)

References 22 publications

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“…The dependence of force generation from contraction velocity is so universally accepted that models explaining the mechanisms of skeletal muscle are specifically tested for their ability to predict the shape of experimentally determined F-V curves (Huxley, 1957; Piazzesi et al, 2007). Moreover, a better understanding of the F-V relationship and the underlying contraction mechanism might help elucidate the pathogenesis of several hereditary sarcomere myopathies and the effects of different drugs with effects on muscle contraction (Ferrantini et al, 2009; Malik et al, 2011; Mansson, 2014; Spudich, 2014), and ultimately benefit the development of robotic and prosthetic applications that rely on bio-inspired actuators that exhibit natural (muscle-like) features in order to mimic the performance of biological systems (Paluska and Herr, 2006; Schmitt et al, 2012; Xiong et al, 2014; Chen et al, 2016; Hyun et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

On the Shape of the Force-Velocity Relationship in Skeletal Muscles: The Linear, the Hyperbolic, and the Double-Hyperbolic

Alcázar

Csapo²,

Ara

et al. 2019

Front. Physiol.

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The shape of the force-velocity (F-V) relationship has important implications for different aspects of muscle physiology, such as muscle efficiency and fatigue, the understanding of the pathophysiology of several myopathies or the mechanisms of muscle contraction per se , and may be of relevance for other fields, such as the development of robotics and prosthetic applications featuring natural muscle-like properties. However, different opinions regarding the shape of the F-V relationship and the underlying mechanisms exist in the literature. In this review, we summarize relevant evidence on the shape of the F-V relationship obtained over the last century. Studies performed at multiple scales ranging from the sarcomere to the organism level have described the concentric F-V relationship as linear, hyperbolic or double-hyperbolic. While the F-V relationship has most frequently been described as a rectangular hyperbola, a large number of studies have found deviations from the hyperbolic function at both ends of the F-V relation. Indeed, current evidence suggests that the F-V relation in skeletal muscles follows a double-hyperbolic pattern, with a breakpoint located at very high forces/low velocities, which may be a direct consequence of the kinetic properties of myofilament cross-bridge formation. Deviations at low forces/high velocities, by contrast, may be related to a recently discovered, calcium-independent regulatory mechanism of muscle contraction, which may also explain the low metabolic cost of very fast muscle shortening contractions. Controversial results have also been reported regarding the eccentric F-V relationship, with studies in prepared muscle specimens suggesting that maximum eccentric force is substantially greater than isometric force, whereas in vivo studies in humans show only a modest increase, no change, or even a decrease in force in lengthening contractions. This review discusses possible reasons reported in the literature for these discrepant findings, including the testing procedures (familiarization, pre-load condition, and temperature) and a potential neural inhibition at higher lengthening velocities. Finally, some unresolved questions and recommendations for F-V testing in humans are reported at the end of this document.

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Section: Introductionmentioning

confidence: 99%

On the Shape of the Force-Velocity Relationship in Skeletal Muscles: The Linear, the Hyperbolic, and the Double-Hyperbolic

Alcázar

Csapo²,

Ara

et al. 2019

Front. Physiol.

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“…El proceso de movimiento de flexión / extensión del exoesqueleto actual se realiza de forma manual mediante los botones de "subir" y "bajar" en la app del móvil. Analizando las características de comodidad del exoesqueleto, considerando los resultados de HUMA [26] (el exoesqueleto más cercano según diseño y finalidad al de nuestra investigación), hemos observado que nuestro diseño es mucho más ligero y cómodo. En el caso de HUMA, los usuarios, al usarlo más de 5 min, notaban mucha fatiga e incomodidad en la pelvis, debido a que transportaban los 20 kg de peso del sistema de procesamiento.…”

Section: F1 (Fuerza Del Cuerpo)unclassified

Design of a Lower-Limb Exoskeleton

Dunai

Lengua

García

2019

DYNAII

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In recent years, many mechanisms have been developed to help people with reduced mobility, especially for people who have injuries that do not allow the mobility of the lower body of the human body. In the present work, the properties and mechanical movements of a human being, angles of movement, extension and flexion of the hip, knee, etc. are described. A device has also been designed, using aluminum elements to give lightness and robustness to the exoskeleton. At the same time, an external casing made of PLA plastic has been developed, with all of which it has been tried to make a light exoskeleton with a low volume, with the aim that be of daily use for people with mobility problems. Five young students tested the exoskeleton in laboratory conditions. Different parameters have been evaluated as design, range of movement and the functionality. A series of characteristics has been defined such as the design improvement, functionality and navigation, the operating time, speed and data reading with myoelectric sensors after trials.

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“…Compared to traditional physical therapy, auxiliary rehabilitation with an exoskeleton has several advantages, which consist in reducing the working time of therapists, allowing a patient to conduct intensive rehabilitation trainings and providing a quantitative assessment of the level of recovery by measuring strength and movement patterns [2,11,12]. Along with the relevance and usefulness of an exoskeleton in a person's life, for a developer and a manufacturer such a multifunctional robotic system is an extremely complex and critical device that requires ensuring a high level of build quality and timely maintenance [13][14][15]. In this regard, great attention should be paid to monitoring the technical condition of main components subjected to increased and alternating loads, and failure of which can lead to detrimental consequences for human health and his environment [2,16].…”

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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Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance

Cited by 80 publications

References 22 publications

On the Shape of the Force-Velocity Relationship in Skeletal Muscles: The Linear, the Hyperbolic, and the Double-Hyperbolic

On the Shape of the Force-Velocity Relationship in Skeletal Muscles: The Linear, the Hyperbolic, and the Double-Hyperbolic

Design of a Lower-Limb Exoskeleton

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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