Design and control of human assisted walking robot

Neuhaus, Peter; Kazerooni, H.

doi:10.1109/robot.2000.844113

Cited by 10 publications

(7 citation statements)

References 8 publications

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“…At the same time, the gait and speed of the exoskeleton robot are improved to coordinate the movement of the human body and help the wearer complete the rehabilitation training, which can last 160 min. 65,66 The wearable lower limb exoskeleton Ekso GTTM 67 was developed by Ekso Bionics company (as shown in Fig. 4(h)).…”

Section: The Commercial Rehabilitation Exoskeletons Productsmentioning

confidence: 99%

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

et al. 2021

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SUMMARY It was reported that about 10% of people suffer from painful knee arthritis, and a quarter of them were severely disabled. The core activities of daily living were severely limited by knee osteoarthritis (KOA). In order to reduce knee pain and prolong the life of the knee joint, there has been an increasing demand on the development of exoskeletons, for prevention and treatment. The course of KOA was closely related to the biomechanics of knee joint, and the pathogenesis was summarized based on the biomechanics of knee joint. For the prevention and clinical treatment, exoskeletons are classified into three categories: prevention, treatment, and rehabilitation after the operation. Furthermore, the design concepts, actuators, sensors, control strategies, and evaluation criteria were presented. Finally, the shortcomings and limitations were summarized. It is useful for researchers to develop suitable exoskeletons in the future.

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Section: The Commercial Rehabilitation Exoskeletons Productsmentioning

confidence: 99%

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

et al. 2021

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“…This hypothesis states that, during locomotion, humans control their muscles activity, moving the various body segments, in such a way that the metabolic energy needed to travel a certain distance is minimized (Neuhaus and Kazerooni, 2000). It is also recognized that most legged locomotion animals optimize the energy efficiency in detriment to the motion smoothness (Alexander, 1984;Dunn and Howe, 1996).…”

Section: Optimization Of Power/energy Based Indicesmentioning

confidence: 99%

“…Among the optimization criteria followed by distinct authors one may include aspects related to energy efficiency (Buehler, 2001;Silva and Machado, 2005;Wang et al, 2008), stability (Albert and Gerth, 2001;Garcia et al, 2002;Hardt and von Stryk, 2002), velocity (Huang and Waldron, 1990;Hugel and Blazevic, 1999;Hugel et al, 2000;Kohl and Stone, 2004), comfort (Neuhaus and Kazerooni, 2000), mobility (Hugel and Blazevic, 1999;Quinn et al, 2001;Warren, 2002) and environmental impact (Ihme and Deutscher, 2001). This paper reviews several approaches that have been adopted for the optimization of the mechanical structure and the locomotion modes of artificial legged systems.…”

Section: Introductionmentioning

confidence: 99%

A literature review on the optimization of legged robots

Silva

Machado

2011

Journal of Vibration and Control

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Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with 'traditional' vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

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“…Moreover, there is an important hypothesis that seems to explain most of the legs and body motions during human locomotion. This hypothesis states that during locomotion humans control their muscles activity, moving the various body segments in such a way that the metabolic energy needed to travel a certain distance is minimized (Neuhaus and Kazerooni, 2000). It is also recognized that locomotion in most of the legged animals optimize the energy efficiency in detriment to the motion smoothness (Alexander, 1984).…”

Section: State-of-the-art Multi-legged Robot Optimizationmentioning

confidence: 99%

“…These results also seem to agree with several biological observations. In fact, regarding the optimal value of F C , it should be referred that Neuhaus and Kazerooni (2000) developed a study of the human foot trajectory during the transfer phase based on some of Muybridge's photographic records and concluded that for different sorts of terrains, the foot trajectories keep very close to the ground, irrespective of the gender of the human under study.…”

Section: Conclusion On the Influence Of Parameters β H B L S And F Cmentioning

confidence: 99%

Kinematic and dynamic performance analysis of artificial legged systems

Silva

Machado

2008

Robotica

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This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the system performance during walking, and the best set of locomotion variables that minimize a set of optimization indices. In this perspective, two kinematic and four dynamic indices are formulated to quantitatively measure the performance of the walking robot. The kinematic indices consist of the perturbation analysis and the locomobility measure, and the dynamic performance indices of the walking robot locomotion are the mean absolute density of energy, the mean power density dispersion, the density of power lost and the mean force at the bodylegs interface. A set of model-based simulation experiments reveals the system configuration and the type of movements that lead to a better performance, for a specific locomotion mode, from the viewpoint of the proposed indices.

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Design and control of human assisted walking robot

Cited by 10 publications

References 8 publications

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

A literature review on the optimization of legged robots

Kinematic and dynamic performance analysis of artificial legged systems

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