Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

Li, Xin; Li, Weihao; Li, Qiang

doi:10.1155/2021/5513013

Cited by 9 publications

(2 citation statements)

References 30 publications

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“…Due to the lack of external power, passive devices cannot provide sufficient power and the performance in reducing muscle activity and metabolic cost is compromised compared with the active ones. For example, in a study [74] of a passive exoskeleton designed to carry loads, the average median oxygen consumption decreased by only 9.45% in an experiment where a mass of 15 kg was lifted 10 times to a height of 1.5 m. Table 2 gives an overview of lower limb exoskeleton providing joint torques addressing the metabolic reduction performance [10,[12][13][14]42,53,59,63,64,68,70,74,75].…”

Section: Exoskeletons Providing Joint Torquesmentioning

confidence: 99%

A review of the design of load-carrying exoskeletons

Liang

Zhang

Liu

et al. 2022

Sci. China Technol. Sci.

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The increasing necessity of load-carrying activities has led to greater human musculoskeletal damage and an increased metabolic cost. With the rise of exoskeleton technology, researchers have begun exploring different approaches to developing wearable robots to augment human load-carrying ability. However, there is a lack of systematic discussion on biomechanics, mechanical designs, and augmentation performance. To achieve this, extensive studies have been reviewed and 108 references are selected mainly from 2013 to 2022 to address the most recent development. Other earlier 20 studies are selected to present the origin of different design principles. In terms of the way to achieve load-carrying augmentation, the exoskeletons reviewed in this paper are sorted by four categories based on the design principles, namely load-suspended backpacks, lower-limb exoskeletons providing joint torques, exoskeletons transferring load to the ground and exoskeletons transferring load between body segments. Specifically, the driving modes of active and passive, the structure of rigid and flexible, the conflict between assistive performance and the mass penalty of the exoskeleton, and the autonomy are discussed in detail in each section to illustrate the advances, challenges, and future trends of exoskeletons designed to carry loads.

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Section: Exoskeletons Providing Joint Torquesmentioning

confidence: 99%

A review of the design of load-carrying exoskeletons

Liang

Zhang

Liu

et al. 2022

Sci. China Technol. Sci.

View full text Add to dashboard Cite

show abstract

“…With the development of its technology, exoskeletons have been widely used in medical rehabilitation, logistics, and military fields [1][2][3][4][5]. Based on the structure mode, exoskeletons are divided into rigid assist [6][7][8] and flexible assist [9][10][11][12][13][14]. The rigid exoskeleton is composed of several rigid connecting rods, which are bound to the human limbs tightly.…”

Section: Introductionmentioning

confidence: 99%

Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Liu

et al. 2022

Applied Bionics and Biomechanics

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The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton. In this paper, a flexible exoskeleton for assisting knee extension was proposed, which provided an on-body condition. Then, the friction force and its influencing factors between the wire rope and sheath of the Bowden cable from the motor to the anchor of knee have been analyzed. The segment models of force transmission with the concern of three kinds of friction modes were established, and the relationship between various lengths and bending angles of Bowden cable was fitted to the equations of curve. Furthermore, the association rule between the force transmission and the lengths of Bowden cable was obtained, based on which, the optimal force transmission efficiency was 78.68% when the length value of the Bowden cable was 475 mm. A flexible exoskeleton prototype was assembled; then, the experiments with force transmission and metabolic cost have been developed. The results showed that the force transmission efficiency had strong association with the lengths of Bowden cable, instead of the transmission velocities. Furthermore, this knee assistance exoskeleton reduced the net metabolic cost of the testees during walking. These experiments results corroborated the force transmission modeling and simulation of the Bowden cable on body we proposed in this paper.

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Two Schrödinger-like Equations for hadrons

Sandapen

2022

EPJ Web Conf.

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In this talk, based on [1, 2], I argue that the holographic Schrödinger Equation of (3 +1)-dim, conformal light-front QCD and the ’t Hooft Equation of (1+1)-dim, large Nc QCD, can be complementary to each other in providing a first approximation to hadron spectroscopy. Together, the two equations play a role in hadronic physics analogous that of the ordinary Schrödinger Equation in atomic physics.

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Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

Cited by 9 publications

References 30 publications

A review of the design of load-carrying exoskeletons

A review of the design of load-carrying exoskeletons

Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Two Schrödinger-like Equations for hadrons

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