Development of A Passively Powered Knee Exoskeleton for Squat Lifting

Ranaweera, R. K. P. S.; Gopura, R. A. R. C.; Jayawardena, T. S. S.; Mann, George K. I.

doi:10.2991/jrnal.2018.5.1.11

Cited by 29 publications

(17 citation statements)

References 6 publications

(22 reference statements)

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“…However, most wearable robots are not designed for this action. A passive one-DoF knee exoskeleton was developed by Ranaweera et al [10] to help humans lift loads from the squatted position. This device employed two helical elastic springs on each knee.…”

Section: Knee Exoskeletonmentioning

confidence: 99%

“…The flexion/extension ankle motions are controlled by a DC servomotor, while the inversion/eversion motions are controlled use a spring and damper mechanism. Three pneumatic synthetic muscles are used to simulate the human leg [24], (c) springs [10], (d) a DC motor and pulley [25], (e) double pulleys [26].…”

Section: Ankle Exoskeletonmentioning

confidence: 99%

“…On the other hand, a passive exoskeleton is a device that has no power source. This type of exoskeleton exploits kinematic forces, e.g., by using springs and dampers [10].…”

Section: Introductionmentioning

confidence: 99%

“…Knee exoskeletons using (a) an inflatable actuator[23], (b) a Bowden cable put in the front and back of the leg[24], (c) springs[10], (d) a DC motor and pulley[25], (e) double pulleys[26].…”

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confidence: 99%

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Overview: Types of Lower Limb Exoskeletons

et al. 2019

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Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.

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Section: Knee Exoskeletonmentioning

confidence: 99%

Section: Ankle Exoskeletonmentioning

confidence: 99%

“…On the other hand, a passive exoskeleton is a device that has no power source. This type of exoskeleton exploits kinematic forces, e.g., by using springs and dampers [10].…”

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Overview: Types of Lower Limb Exoskeletons

et al. 2019

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“…Lerner et al (2017) showed a reduction in knee extensor moment in individuals with crouch gait due to Cerebral Palsy when using a knee exoskeleton. A passive knee exoskeleton mechanism has shown to reduce the peak root-mean-square averages of surface electromyography signals of the knee extensor muscles by 30%–40% during squatting (Ranaweera et al, 2018). A subjective evaluation of a passive leg support exoskeleton (“noonee”) showed that it reduced discomfort during a simulated assembly task (Luger et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a Lower Leg Support Exoskeleton on Floor and Below Hip Height Panel Work

Pillai¹,

Engelhoven²,

Kazerooni

2020

Hum Factors

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Objective The aim of this study is to determine the effectiveness of using a leg support exoskeleton (legX) in different modes on simulated work tasks which emulate real-world job tasks. Background Prolonged kneeling and squatting tasks increase the risk of work-related musculoskeletal disorders at the knee in industrial occupations. Methods We evaluated legX capable of spring assistance throughout one’s range of motion and/or locking support at a fixed angular position. Participants performed a dynamic panel task, alternating between hip and knee height, and a sustained floor level task with and without the exoskeleton. The exoskeleton was evaluated in spring mode, locking mode, and spring + locking mode for the panel task and only in locking mode for the floor task. The participants’ ( N = 15) muscle activity was recorded for the right lumbar erector spinae, thoracic erector spinae, tibialis anterior, rectus femoris, semitendinosus, and lateral gastrocnemius. Results Significant reduction of the rectus femoris activity was observed with the exoskeleton (median reduction: 22%–56% and peak reduction: 12%–48% for the panel task and median reduction: 57% and peak reduction:34% during the floor task). Conclusion legX significantly reduces rectus femoris activity during squatted static (floor) and dynamic (panel) work and may reduce pain and discomfort associated with squatting and potentially reduce the risk of developing knee disorders. Dynamic tasks benefit from both locking modes and spring assistance, the greatest benefit occurring with a combination of the two. Application These results show that the legX can be beneficial to activities such as electrical panel work, grinding, sanding of larger surfaces, and concrete laying.

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