On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

Chu, Andrew; Kazerooni, H.; Zoss, Adam

doi:10.1109/robot.2005.1570789

Cited by 209 publications

(123 citation statements)

References 14 publications

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“…BLEEX has four critical features: (1) a novel control scheme, (2) high-powered compact power supplies -hydraulic and electric actuations that have been designed to power BLEEX, (3) a special communication protocol and electronics, and (4) a design architecture that decreases complexity and power consumption (Chu, Kazerooni, & Zoss, 2005;Zoss, Kazerooni, & Chu, 2006).…”

Section: Bleexmentioning

confidence: 99%

“…Berkeley's Human Engineering and Robotics Laboratory supported by the Defense Advance Research Project Agency (DARPA) (Dollar & Herr, 2008). The BLEEX seeks to supplement the intelligence and sensory systems of a human with the significant strength and endurance of a pair of wearable robotic legs that offers a payload capacity (Chu, Kazerooni, & Zoss, 2005).…”

Section: Bleexmentioning

confidence: 99%

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Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Schnieders

Stone

2017

International Journal of Robotics Applications and Technologies

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This literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users. Disciplines Industrial Engineering | Systems Engineering CommentsThis article is published as Schnieders, Thomas Michael, and Richard T. ABSTRACTThis literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users.

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Section: Bleexmentioning

confidence: 99%

Section: Bleexmentioning

confidence: 99%

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Schnieders

Stone

2017

International Journal of Robotics Applications and Technologies

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“…Their development in Berkeley, California was impressive, from the first-generation BLEEX to the ExoHiker to the third-generation HULC [1][2][3]. With the use of hydraulic drivers, the weight loading ability rose to 45 kg [4].…”

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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“…Ferris et al [6][7][8][9] built a pneumatically powered knee-ankle-foot orthosis, which was used to test this device's mechanical performance during human walking. Chu et al [10] proposed a hydraulically driven lowerlimb exoskeleton driving the hip, knee, and ankle joints to compensate for the strength and endurance of a human under a payload. Lugris et al [11] presented an active stance-control knee-ankle-foot orthosis.…”

Section: Introductionmentioning

confidence: 99%

A Neuromotor Device for Reducing Phantom Limb Pain in Individuals with Spinal Cord Injury

2016

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Abstract. Phantom Limb Pain is a disorder that can be experienced by individuals after amputation or spinal cord injury. In spinal cord injury the paralysis or paresis is often bilateral, thus limiting the application of apparent movement as a therapeutic model for phantom limb pain. This project aimed to develop a robotic rehabilitation device that replicated apparent movement to apply the same therapeutic principles with individuals with lower limb phantom pain that have bilateral paralysis of paresis. The proposed device achieved lower limb planar motion of the knee by a six-bar linkage of a single degree of freedom (DOF). It is driven by a linear actuator while the ankle motion is achieved by a gear motor, reaching an effective 70° range of motion for both joints. The system features closed loop control using feedback from surface electromyography sensors, limit switches and position sensors with an Arduino microcontroller as the control unit. This device will be used to further our understanding of the disorder and create opportunities for robot aided treatment for individuals with phantom limb pain as a result of spinal cord injury.

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On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

Cited by 209 publications

References 14 publications

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints

A Neuromotor Device for Reducing Phantom Limb Pain in Individuals with Spinal Cord Injury

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