Development of an Instrumented and Passive Exoskeleton for the Lower Limb Rehabilitation

Zhang, Qiuhao; Tian, Kechao; Guo, Hongwei

doi:10.1109/iacsit-sc.2009.78

Cited by 6 publications

(2 citation statements)

References 5 publications

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“…With the rapid development of society, aging issues, medical rehabilitation [1] et al make the development of the assist robots get more and more attention. As a new class of articulated mechanical systems, several robotic devices are currently developed for upper limbs assisting [2], [3], [4], [5] and for lower limbs assisting [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Zhu

Cui

Zhao

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG.LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.

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Section: Introductionmentioning

confidence: 99%

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Zhu

Cui

Zhao

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…The XOS-2, which is driven by hydromantic, was produced in 2010 by Raytheon near the area where the first exoskeletons were invented. This new version can lift up to 90.7 kg [5]. In addition to military applications, exoskeleton robots have also been used in rehabilitation training of both the elderly and the young.…”

Section: Introductionmentioning

confidence: 99%

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints

Zhang¹,

Liu²,

Ma³

et al. 2017

THC

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Abstract. In this paper, an obstacle-surmounting-enabled lower limb exoskeleton with novel linkage joints that perfectly mimicked human motions was proposed. Currently, most lower exoskeletons that use linear actuators have a direct connection between the wearer and the controlled part. Compared to the existing joints, the novel linkage joint not only fitted better into compact chasis, but also provided greater torque when the joint was at a large bend angle. As a result, it extended the angle range of joint peak torque output. With any given power, torque was prioritized over rotational speed, because instead of rotational speed, sufficiency of torque is the premise for most joint actions. With insufficient torque, the exoskeleton will be a burden instead of enhancement to its wearer. With optimized distribution of torque among the joints, the novel linkage method may contribute to easier exoskeleton movements.

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ReGear: an upper and lower limb simultaneous system for stroke rehabilitation

Rodrigues

Moraes

Gonçalves

2021

J Braz. Soc. Mech. Sci. Eng.

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Development of an Instrumented and Passive Exoskeleton for the Lower Limb Rehabilitation

Cited by 6 publications

References 5 publications

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints

ReGear: an upper and lower limb simultaneous system for stroke rehabilitation

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