Lower Extremity Exoskeleton for Stair Climbing Augmentation

Zhang, Zongwei; Zhu, Yanhe; Zheng, Tianjiao; Zhao, Sikai; Ma, Shugen; Fan, Jizhuang; Zhao, Jie

doi:10.1109/icarm.2018.8610718

Cited by 6 publications

(8 citation statements)

References 19 publications

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“…Thus, if a motor and speed reducer system had been adopted directly, the mass and size of the driving system would have been unacceptably large, and so a new approach was needed to achieve this driving torque. We developed a linkage topology mechanism to overcome the contradiction between mass and driving torque [6]. The mechanical structure is illustrated in Figure 1(b).…”

Section: Dear Editormentioning

confidence: 99%

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Active knee joint exoskeleton for stair ascent augmentation

Zhang¹,

Fan²,

Jin³

et al. 2020

Sci. China Inf. Sci.

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Section: Dear Editormentioning

confidence: 99%

“…where Ast and Asw were the state matrices of the stance phase and the swing phase, respectively. From (4) and (6),…”

Section: Dear Editormentioning

confidence: 99%

Active knee joint exoskeleton for stair ascent augmentation

Zhang¹,

Fan²,

Jin³

et al. 2020

Sci. China Inf. Sci.

Self Cite

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“…The stair motion assistance with an exoskeleton topic is present in the field of electronics and addresses the problem of cooperative control between the exoskeleton and the human subject or for reducing energy consumption when climbing stairs [21][22][23][24][25][26]. Preliminary evaluations are performed for this topic [27], as well as analyses of fall possibilities [28][29][30]. The situation of stair descent by means of assistance with an exoskeleton or improvement of stair climbing abilities by means of an exoskeleton actuated by myoelectric muscle signals is also addressed in the literature [31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

A New Exoskeleton Prototype for Lower Limb Rehabilitation

Geonea,

Copilusi,

Dumitru

et al. 2023

Machines

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This paper presents a new solution for an exoskeleton robotic system that is used for locomotor assistance in people with locomotor disabilities. As novel features of the present research, a novel structural solution of a plane-parallel kinematic chain, intended to be used as the leg of an exoskeleton robot, is proposed. A virtual prototype is made, on the basis of which kinematic and dynamic studies are carried out using ADAMS software for the dynamic analysis of multibody systems. The dynamic simulation of the exoskeleton is performed in two simulation situations: walking on a horizontal plane, as well as the simulation of motion assistance when climbing stairs. Following this analysis, it is noted that the robotic system achieves angular variations in the hip and knee joints similar to that of a human subject. As a result, the constructive solution is feasible, and the next stage of the study is to realize an experimental prototype by the rapid prototyping technique. The kinematic elements of the exoskeleton are designed to provide structural strength, to be easily manufactured by 3D printing and to be easy to assemble. For this purpose, the structural optimization is performed with the finite element method to eliminate stress concentrators. Finally, an experimental prototype of the exoskeleton robot is manufactured and assembled, whose motion is analyzed using ultrafast-camera-based video analysis.

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“…Therefore, the differences are about the additional active assistance of plantar flexion (Joudzadeh et al, 2018 ) and the assisted knee flexion (Angold et al, 2006 ; Chandrapal et al, 2013 ). The exoskeletons reported in Jang et al ( 2016 ), Zhang et al ( 2018 ), and Zhao et al ( 2019b ) and the exosuit from Zhao et al ( 2019a ) are suitable to assist stair ascent only. However, these systems also differ in the characteristics of the actuated joints.…”

Section: Introductionmentioning

confidence: 99%

“…The assumed needed mean moment for knee joint extension is based on findings from Nadeau et al ( 2003 ). However, Zhang et al ( 2018 ) concluded from the same source that the active joints should be arranged in the hip joint of the frontal plane and knee joint of the sagittal plane, respectively. However, Novak and Brouwer ( 2011 ) have shown that elderly people can apply a higher moment for hip abduction during ascent and descent compared to young subjects.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of the power deficit of elderly people during stair negotiation: Which joints should be assisted at least by an exoskeleton and with what amount?

et al. 2022

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Climbing stairs can become a daily obstacle for elderly people, and an exoskeleton can assist here. However, the exoskeletons that are designed to assist stair climbing are actuated in different ways. To find a minimal actuation configuration, we identify the assist phases by evaluating the power deficit of 11 healthy but weak elderly people (72.4 ± 2.1 years; 69–76 years; 1.67 ± 0.10 m; 74.88 ± 14.54 kg) compared to 13 younger people (24.0 ± 1.8 years; 22–28 years; 1.74 ± 0.10 m; 70.85 ± 11.91 kg) in a biomechanical study and discuss moment characteristics. Three-dimensional kinematics and ground reaction forces were collected, and kinematics, kinetics, and power characteristics of each subject for ascent and descent were calculated using inverse dynamics. Significant differences for power between both groups were assessed with statistical parametric mapping method using dynamic time warping. During ascent, the largest significant power deficit of the elderly subjects occurs in the single stance phase (SSP) during pull-up in the knee joint. During descent, significant mean power deficits of 0.2 and 0.8 W/kg for the highest deficit occur in the ankle joint in the beginning of the SSP and also in the knee joint in the same phase. Therefore, an exoskeleton should address the power deficit for knee extension (ascent: 1.0 ± 0.9 W/kg; descent: 0.3 ± 0.2 W/kg) and could assist the ankle during ascent and descent by an additional plantar flexion moment of 0.2 Nm/kg each.

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Lower Extremity Exoskeleton for Stair Climbing Augmentation

Cited by 6 publications

References 19 publications

Active knee joint exoskeleton for stair ascent augmentation

Active knee joint exoskeleton for stair ascent augmentation

A New Exoskeleton Prototype for Lower Limb Rehabilitation

Evaluation of the power deficit of elderly people during stair negotiation: Which joints should be assisted at least by an exoskeleton and with what amount?

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