Design of a pneumatically powered wearable exoskeleton with biomimetic support and actuation

Sergeyev, Aleksandr; Alaraje, Nasser; Seidel, Carl W.; Carlson, Zach; Breda, Brandon

doi:10.1109/aero.2013.6496857

Cited by 4 publications

(1 citation statement)

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“…While hydraulic actuation seems to be better suited for power augmentation exoskeletons, 31,32 pneumatic (cylinders or ''fluidic muscles'') actuation is more often deployed in rehabilitation devices. [33][34][35][36] Electric SEAs are used for a vast number of systems in rehabilitation, 37,38 for power support, and for elderly people. 39 They provide high overall power density and can be controlled well.…”

Section: Introductionmentioning

confidence: 99%

Knee-ankle-foot orthosis with powered knee for support in the elderly

Pott

Wolf

Block

et al. 2017

Proc Inst Mech Eng H

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A prototype of a powered knee orthotic device was developed to determine whether fractional external torque and power support to the knee relieves the biomechanical loads and reduces the muscular demand for a subject performing sit-to-stand movements. With this demonstrator, consisting of the subsystems actuation, kinematics, sensors, and control, all relevant sensor data can be acquired and full control is maintained over actuator parameters. A series-elastic actuator based on a direct current motor provides up to 30 Nm torque to the knee via a hinge joint with an additional sliding degree of freedom. For reasons of feasibility under everyday conditions, user intention is monitored by employing a noninvasive, nonsticking muscle activity sensor to replace electromyographic sensors, which require skin preparation. Furthermore, foot plates with force sensors have been developed and included to derive ground reaction forces. The actual knee torque needed to provide the desired support is based on an inverse dynamics model using ground reaction forces signals and leg kinematics. A control algorithm including disturbance feed forward has been implemented. A demonstration experiment with two subjects showed that 23 % of moment support in fact leads to a similar reduction in activation of the main knee extensor muscle.

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Section: Introductionmentioning

confidence: 99%

Knee-ankle-foot orthosis with powered knee for support in the elderly

Pott

Wolf

Block

et al. 2017

Proc Inst Mech Eng H

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Current State and Design Recommendations of Exoskeletons of Lower Limbs in Military Applications

Leova

Cubanova

Kutílek

et al. 2022

Lecture Notes in Computer Science

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Exoskeletons for Manual Handling: A Scoping Review

Perera,

Widanage,

Wijegunawardana

et al. 2023

IEEE Access

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The prevalence of work-related musculoskeletal disorders is a common issue in many occupations involving manual handling activities. In order to aid manual workers in reducing the burden on the musculoskeletal system, various wearable robotic technologies have been developed over the years. An increase in research work on wearable technologies has been observed, particularly in the last decade. In that context, this article presents a comprehensive review and a bibliometric analysis of the recorded occupational exoskeletons for manual handling since 2010. The review is aimed at identifying the paradigm shifts of research in the recent past and associating the trends pertaining to the applications, mechanisms, and control systems in the development of wearable devices for manual handling. The scope of the review limits itself to active and passive exoskeletons designed to support the upper extremity, lower extremity, and spine for performing load lifting, load carrying, or static holding. The analysis of the results revealed the emerging trends with the aim of providing researchers with areas for improvement and suggestions for different clusters of devices.

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Design of a pneumatically powered wearable exoskeleton with biomimetic support and actuation

Cited by 4 publications

References 0 publications

Knee-ankle-foot orthosis with powered knee for support in the elderly

Knee-ankle-foot orthosis with powered knee for support in the elderly

Current State and Design Recommendations of Exoskeletons of Lower Limbs in Military Applications

Exoskeletons for Manual Handling: A Scoping Review

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