Empowering lower limbs exoskeletons: state-of-the-art

Vítečková, Slávka; Kutílek, Patrik; Boisboissel, Gérard de; Krupička, Radim; Galajdová, Alena; Kauler, Jan; Lhotská, Lenka; Szabó, Zoltán

doi:10.1017/s0263574718000693

Cited by 20 publications

(10 citation statements)

References 68 publications

(84 reference statements)

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“…In addition to the above, it is worth mentioning that the paradigm of multiple assistance levels is not exclusive to walker-assisted gait. In particular, these strategies can be easily implemented in other assistive devices such as exoskeletons or hybrid devices [ 54 , 55 , 56 ]. Finally, future works will address the assessment of these interaction strategies in a clinical scenario with pathological patients or older people.…”

Section: Discussionmentioning

confidence: 99%

Evaluation of Physical Interaction during Walker-Assisted Gait with the AGoRA Walker: Strategies Based on Virtual Mechanical Stiffness

Múnera

Provot

et al. 2021

Sensors

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Smart walkers are commonly used as potential gait assistance devices, to provide physical and cognitive assistance within rehabilitation and clinical scenarios. To understand such rehabilitation processes, several biomechanical studies have been conducted to assess human gait with passive and active walkers. Several sessions were conducted with 11 healthy volunteers to assess three interaction strategies based on passive, low and high mechanical stiffness values on the AGoRA Smart Walker. The trials were carried out in a motion analysis laboratory. Kinematic data were also collected from the smart walker sensory interface. The interaction force between users and the device was recorded. The force required under passive and low stiffness modes was 56.66% and 67.48% smaller than the high stiffness mode, respectively. An increase of 17.03% for the hip range of motion, as well as the highest trunk’s inclination, were obtained under the resistive mode, suggesting a compensating motion to exert a higher impulse force on the device. Kinematic and physical interaction data suggested that the high stiffness mode significantly affected the users’ gait pattern. Results suggested that users compensated their kinematics, tilting their trunk and lower limbs to exert higher impulse forces on the device.

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Section: Discussionmentioning

confidence: 99%

Evaluation of Physical Interaction during Walker-Assisted Gait with the AGoRA Walker: Strategies Based on Virtual Mechanical Stiffness

Múnera

Provot

et al. 2021

Sensors

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“…The main issue in developing such robotic devices is related to the working environment of firefighters. Fire emergencies are characterized by very high temperatures that lead to break-ups in mechanical components [ 126 ].…”

Section: Future Perspectives: Robotic and Assistive Devicesmentioning

confidence: 99%

Preventing and Monitoring Work-Related Diseases in Firefighters: A Literature Review on Sensor-Based Systems and Future Perspectives in Robotic Devices

Taborri

Pasinetti

Cardinali

et al. 2021

IJERPH

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In recent years, the necessity to prevent work-related diseases has led to the use of sensor-based systems to measure important features during working activities. This topic achieved great popularity especially in hazardous and demanding activities such as those required of firefighters. Among feasible sensor systems, wearable sensors revealed their advantages in terms of possibility to conduct measures in real conditions and without influencing the movements of workers. In addition, the advent of robotics can be also exploited in order to reduce work-related disorders. The present literature review aims at providing an overview of sensor-based systems used to monitor physiological and physical parameters in firefighters during real activities, as well as to offer ideas for understanding the potentialities of exoskeletons and assistive devices.

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“…The exoskeleton robot can fully adapt to the physiological structure of the human body by being worn on the outside of the human body, moving in coordination with the human to achieve various purposes, such as exercise assistance, ability improvement, and medical rehabilitation [1][2][3][4]. With the development of lower limbs exoskeleton robots, the demand for high-precision dynamic models of the exoskeleton is increasing.…”

Section: Introductionmentioning

confidence: 99%

Lower limb exoskeleton robots’ dynamics parameters identification based on improved beetle swarm optimization algorithm

Zhang

2022

Robotica

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Efficient and high-precision identification of dynamic parameters is the basis of model-based robot control. Firstly, this paper designed the structure and control system of the developed lower extremity exoskeleton robot. The dynamics modeling of the exoskeleton robot is performed. The minimum parameter set of the identified parameters is determined. The dynamic model is linearized based on the parallel axis theory. Based on the beetle antennae search algorithm (BAS) and particle swarm optimization (PSO), the beetle swarm optimization algorithm (BSO) was designed and applied to the identification of dynamic parameters. The update rule of each particle originates from BAS, and there is an individual’s judgment on the environment space in each iteration. This method does not rely on the historical best solution in the PSO and the current global optimal solution of the individual particle, thereby reducing the number of iterations and improving the search speed and accuracy. Four groups of test functions with different characteristics were used to verify the performance of the proposed algorithm. Experimental results show that the BSO algorithm has a good balance between exploration and exploitation capabilities to promote the beetle to move to the global optimum. Besides, the test was carried out on the exoskeleton dynamics model. This method can obtain independent dynamic parameters and achieve ideal identification accuracy. The prediction result of torque based on the identification method is in good agreement with the ideal torque of the robot control.

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Empowering lower limbs exoskeletons: state-of-the-art

Cited by 20 publications

References 68 publications

Evaluation of Physical Interaction during Walker-Assisted Gait with the AGoRA Walker: Strategies Based on Virtual Mechanical Stiffness

Evaluation of Physical Interaction during Walker-Assisted Gait with the AGoRA Walker: Strategies Based on Virtual Mechanical Stiffness

Preventing and Monitoring Work-Related Diseases in Firefighters: A Literature Review on Sensor-Based Systems and Future Perspectives in Robotic Devices

Lower limb exoskeleton robots’ dynamics parameters identification based on improved beetle swarm optimization algorithm

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