Design and Experimental Verification of a Hip Exoskeleton Based on Human–Machine Dynamics for Walking Assistance

Wang, Xiangyang; Guo, Sheng; Qu, Bojian; Bai, Shaoping

doi:10.1109/thms.2022.3217971

Cited by 10 publications

(3 citation statements)

References 27 publications

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“…Unlike most existing exoskeletons, this controller only needed the user's kinematic data, not interaction force, making the system more compact. Tests showcased the proposed hip exoskeleton's kinematic compatibility and assistance capabilities [85].…”

Section: Parallel Robot For Hip Assistancementioning

confidence: 99%

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Abarca,

Elias

2023

Robotics

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This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.

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Section: Parallel Robot For Hip Assistancementioning

confidence: 99%

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Abarca,

Elias

2023

Robotics

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“…The proposed knee exoskeleton can increase the function of hip IER assistance and thus improve the rehabilitation effects of the exoskeleton. Second, incorporating hip IER movement can enhance walking agility during walking assistance [30]. Thus, the proposed knee exoskeleton also has the potential to enhance walking assistance performance.…”

Section: A Design Motivationmentioning

confidence: 99%

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability

Li,

Liang,

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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The self-aligning capability of an exoskeleton is important to ensure wearing comfort, and the delicate motion ability of the exoskeleton is essential for motion assistance. Designing a self-aligning exoskeleton that offers improved wearing comfort and enhanced motion-assistance functions remains a challenge. This paper proposes a novel spatial self-aligning mechanism for a knee exoskeleton to enable simultaneous assistance in the flexion and extension (FE) of the knee joint and the internal and external rotation (IER) of the hip joint. Additionally, considering the misalignment of the human-robot joint axes, a kinematic model of the knee exoskeleton is established and analyzed to demonstrate the kinematic compatibility of the exoskeleton. Furthermore, a global torque manipulability (GTM) index is proposed to evaluate the effects of dimensional parameters on the exoskeleton's performance, and then the knee exoskeleton is optimized according to the GTM index. Finally, experiments are conducted to validate the performance of the proposed exoskeleton. The experimental results show that during knee FE and hip IER, the proposed exoskeleton exhibits lower interaction forces and torques than existing exoskeletons.

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“…The device utilizes CAN network and ARM microcontroller for actuation of the motorized joints which is elucidated in the Figure 20. Model based controller 221 that requires only kinematic data of the user's hip joint to manipulate the orthotic pattern to offer signals to the actuation system is developed with the intent of reducing the data processing.…”

Section: Controllers and Parametersmentioning

confidence: 99%

Exo skeleton pertinence and control techniques: A state-of-the-art review

Rangan R,

Babu S

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Exo-Skeleton is a wearable robotic device which was emerged in later 1960s that has a multitude of applications ranging from weightlifting to wearer’s stability improvement. This paper makes a novel approach in reviewing the various exo-skeleton models that are available at the present. The idea of this paper is to study and compare the models in terms of medical applicability like gait rehabilitation, physiotherapy, human strength augmentation, various control strategies of exo-skeleton, ergonomic study, and need for exo-skeleton system for enhancing the life of humans. Since exo-skeletons are wearable devices, it requires precise controlling of the actuators and repeatability, and accuracy plays a vital role. The paper elucidated with a detailed analysis, reviewed and summarized the core essence of 300 research papers and patents in the field of exo-skeleton with the aforesaid aspects of application and drive system with their control methodologies from 2007 to 2022 and shown a trend with year-wise data from which it is clear that the future of industrial work will become a collaborative activity involving the exo-skeleton system with human labours. Human – robot interaction is vital and must for enabling an integration which can be achieved with the amelioration in the control and actuation techniques for precise control. With the furtherance in the technology the exo-skeletons can be purpose built that can be of rigid or flexible structures with active, passive, or quasi-passive controls based on the user needs. Joint handed operation of Exo-skeleton with the alternative treatment methodologies will yield a plethora of benefits in the near future in comparison with the present conventional treatment modes that could result in reduction of surgeries.

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Design and Experimental Verification of a Hip Exoskeleton Based on Human–Machine Dynamics for Walking Assistance

Cited by 10 publications

References 27 publications

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability

Exo skeleton pertinence and control techniques: A state-of-the-art review

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