Mechanical Design of a Biomimetic Compliant Lower Limb Exoskeleton (BioComEx)

Kizilhan, Hasbi; Kılıç, Esma

doi:10.1109/icarsc.2016.51

Cited by 10 publications

(4 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Dummy limbs were chosen prior to human tests in exoskeletons experimental validations either using a simple mannequin lower leg [23] or a complex dummy arm from 3D human scanning [24]. Human dummy models have been proposed to improve the human-exoskeleton fitting [25]. An advanced dummy test case was presented in [26], in which a full-body humanoid robot [27] was used to prove the humanoid control performance while wearing an assistive device.…”

Section: Related Workmentioning

confidence: 99%

A mechatronic leg replica to benchmark human–exoskeleton physical interactions

Dežman¹,

Massardi²,

Pinto-Fernández³

et al. 2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

Evaluating human-exoskeleton interaction typically requires experiments with human subjects, which raises safety issues and entails time-consuming testing procedures.This paper presents a mechatronic replica of a human leg, which was designed to quantify physical interaction dynamics between exoskeletons and human limbs without the need for human testing.In the first part of this work, we present the mechanical, electronic, sensory system and software solutions integrated in our leg replica prototype.In the second part, we used the leg replica to test its interaction with two types of commercially available wearable devices, i.e., an active full leg exoskeleton and a passive knee orthosis.We ran basic test examples to demonstrate the functioning and benchmarking potential of the leg replica to assess the effects of joint misalignments on force transmission.The integrated force sensors embedded in the leg replica detected higher interaction forces in the misaligned scenario in comparison to the aligned one, in both active and passive modalities.The small standard deviation of force measurements across cycles demonstrates the potential of the leg replica as a standard test method for reproducible studies of human-exoskeleton physical interaction.

show abstract

Section: Related Workmentioning

confidence: 99%

A mechatronic leg replica to benchmark human–exoskeleton physical interactions

Dežman¹,

Massardi²,

Pinto-Fernández³

et al. 2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

“…In recent years, the research on exoskeleton is no longer limited to the modelling of rigid components. Some scholars began to consider human factors and human-computer interaction and introduced human biomechanical models such as human muscle, bone, plantar, and their mutual constraints [ 74 ]. In fact, there are still many unknown areas to explore.…”

Section: Gait Recognition Based On Information Fusionmentioning

confidence: 99%

Gait Recognition for Lower Limb Exoskeletons Based on Interactive Information Fusion

Chen

Zhu

et al. 2022

Applied Bionics and Biomechanics

View full text Add to dashboard Cite

In recent decades, although the research on gait recognition of lower limb exoskeleton robot has been widely developed, there are still limitations in rehabilitation training and clinical practice. The emergence of interactive information fusion technology provides a new research idea for the solution of this problem, and it is also the development trend in the future. In order to better explore the issue, this paper summarizes gait recognition based on interactive information fusion of lower limb exoskeleton robots. This review introduces the current research status, methods, and directions for information acquisition, interaction, fusion, and gait recognition of exoskeleton robots. The content involves the research progress of information acquisition methods, sensor placements, target groups, lower limb sports biomechanics, interactive information fusion, and gait recognition model. Finally, the current challenges, possible solutions, and promising prospects are analysed and discussed, which provides a useful reference resource for the study of interactive information fusion and gait recognition of rehabilitation exoskeleton robots.

show abstract

“…Pada penelitian ini, eksoskeleton dirancang dengan desain yang lebih humanis dan disesuaikan dengan kebutuhan, serta dilengkapi gerak latihan sederhana dan sistem adjustable sehingga memudahkan pasien dalam menyesuaikan ukuran. Eksoskeleton mengacu pada penelitian yang sudah dilakukan sebelumnya, yaitu mengacu pada penelitian Biomimetic Compliant Lower Limb Eksoskeleton berupa adanya fungsi melatih adanya gerak kaki pada sendi dan penerapan back support [5]. Eksoskeleton yang dikembangkan dalam perancangan ini juga dikembangkan dari penelitian terkait eksoskeletin yang dilakukan sebelumnya berupa pengembangan gerakan yang dibedakan menjadi 4 macam gerakan dengan 3 level yang berbeda menyesuaikan kemampuan pasien pasca strok [6].…”

Section: Pendahuluanunclassified

Pengembangan Desain Lower Limb Eksoskeleton untuk Penderita Disabilitas Pasca Strok dengan Memperhitungkan Movement Differences

Sari¹,

Kuswanto²

2020

JSSITS

View full text Add to dashboard Cite

Stroke adalah salah satu penyebab kematian tertinggi di Indonesia. Sekitar dua puluh satu persen masyarakat Indonesia meninggal dunia diakibatkan oleh serangan penyakit ini dan yang lainnya mengalami kecacatan yang ditimbulkan pada pasien pasca stroke. Beberapa usaha terapi dilakukan, salah satunya dengan terapi alternatif berbasis teknologi, yaitu penggunaan Eksoskeleton. Penelitian ini melanjutkan dan melengkapi penelitian terdahulu, yaitu dengan melakukan rancang bangun eksoskeleton untuk anggota gerak tubuh bagian bawah mulai pinggul hingga mata kaki. Hasil penelitian ini memiliki bentuk dan sistem yang efisien, menggunakan dua derajat kebebasan dalam sumbu sagital, memiliki variasi gerakan lebih banyak sesuai kebutuhan rehabilitasi, menyediakan levelling gerakan yang bisa menyesuaikan kondisi pasien, serta didukung adanya tombol remote sebagai kontroler. Eksoskeleton ini juga dilengkapi penyangga tubuh bagian belakang sehingga proses rehabilitasi dapat dilakukan secara kontinyu, yang diharapkan mengoptimalkan penyembuhan.

show abstract

Mechanical Design of a Biomimetic Compliant Lower Limb Exoskeleton (BioComEx)

Cited by 10 publications

References 17 publications

A mechatronic leg replica to benchmark human–exoskeleton physical interactions

A mechatronic leg replica to benchmark human–exoskeleton physical interactions

Gait Recognition for Lower Limb Exoskeletons Based on Interactive Information Fusion

Pengembangan Desain Lower Limb Eksoskeleton untuk Penderita Disabilitas Pasca Strok dengan Memperhitungkan Movement Differences

Contact Info

Product

Resources

About