Review of assistive strategies in powered lower-limb orthoses and exoskeletons

Yan, Tiekun; Cempini, Marco; Oddo, Calogero Maria; Vitiello, Nicola

doi:10.1016/j.robot.2014.09.032

Cited by 591 publications

(305 citation statements)

References 57 publications

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“…Therefore, in fact, in our boundary value problem for biped alone, we search five initial unknown angular velocities in five interlink joints to reach the five given angles in theses five interlink joints. Due to identity (14), for the biped with exoskeleton we have to find four initial unknown angular velocities in four interlink joints to reach the four given angles in theses four interlink joints. So, the number of unknown variables is equal to the number of the equations.…”

Section: Boundary Value Problemmentioning

confidence: 99%

“…Body Extender is a fully actuated body extender to amplify the force of a human operator. It has been designed, realized and tested at Percro (Laboratory of Perceptual Robotics), see [13] and [14]. This exoskeleton allows to lift a load that is equal to 100 kg.…”

Section: Introductionmentioning

confidence: 99%

“…Strausser and Kazerooni [16] proposed a Humanoid Machine Interface (HMI) for a mobile medical exoskeleton to allow the users to stand up, walk, and sit down independently. Current trends and major challenges in the development of assistance devices are discussed in [14].…”

Section: Introductionmentioning

confidence: 99%

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Walking of biped with passive exoskeleton: evaluation of energy consumption

Aoustin

Formalskii

2017

Multibody Syst Dyn

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The paper aim is to show theoretically the feasibility and efficiency of a passive exoskeleton for human walking and carrying a load. Human is modeled using a planar bipedal anthropomorphic mechanism. This mechanism consists of a trunk and two identical legs; each leg consists of a thigh, shin, and foot (massless). The exoskeleton is considered also as an anthropomorphic mechanism. The shape and the degrees of freedom of the exoskeleton are identical to the biped (to human) -the topology of the exoskeleton is the same as of the biped (human). Each of models of human and of exoskeleton has seven links and six joints. The hip-joint connects the trunk and two thighs of the two legs. If the biped is equipped with an exoskeleton, then the links of this exoskeleton are attached to the corresponding links of the biped and the corresponding hip-, knee-, and ankle-joints coincide. We compare the walking gaits of a biped alone (without exoskeleton) and of a biped equipped with exoskeleton; for both cases the same load is transported. The problem is studied in the framework of ballistic walking model. During the ballistic walking of the biped with exoskeleton the knee of the support leg is locked, but the knee of the swing leg is unlocked. The locking and unlocking can be realized in the knees of the exoskeleton by any mechanical brake devices without energy consumption. There are not any actuators in the exoskeleton. Therefore, we call it passive exoskeleton. The walking of the biped consists of alternating single-and double-support phases. In our study, the double-support phase is assumed as instantaneous. At the instant of this phase, the knee of the previous swing leg is locked and the knee of the previous support leg is unlocked. Numerical results show that during the load transport the human with the exoskeleton spends less energy than human alone. For transportation of a load with mass 40 kg, the economy of the energy is approximately 28%, if the length of the step and its duration are equal to 2 0.5 m and 0.5 s respectively.

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Section: Boundary Value Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Walking of biped with passive exoskeleton: evaluation of energy consumption

Aoustin

Formalskii

2017

Multibody Syst Dyn

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“…In recent years, different types of powered exoskeletons have been developed [1][2][3][4]. Although significant advances have been made in the exoskeleton robot design, all of these existing robots are actuated and controlled using conventional engineering techniques, realizing specific tasks with narrow performance goals, where what is required is a wide range of autonomous exoskeleton robot behaviours, capable of responding to uncertain, complex walking environments [5].…”

Section: Introductionmentioning

confidence: 99%

The Energy Amplification Characteristic Research of a Multimodal Actuator

Han

Dabin

Shi

et al. 2016

International Journal of Advanced Robotic Systems

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A multimodal actuator is proposed to fulfil the different walking patterns of a power-assisted knee exoskeleton. With this actuator, the exoskeleton leg can realize several modes of operation, including series elastic actuation, stiff position control and energy storage and release. The energy amplification characteristics of the multimodal actuator in the series elastic mode are analysed. A dynamics model was established to study how series elasticity and the equivalent mass of transmission influence a power source, such as an electric motor. The results, in both simulation and experiment, show that series elasticity can amplify actuator power output, and the power output of a multimodal actuator is greater when the equivalent mass of the transmission mechanism is smaller. This research into multimodal actuator energy amplification supplies important insights into the design of artificial systems that can more closely approximate the performance of biological systems.

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“…This type of user-performance based adaptive control can be modeled as a spring-damping coupled system. Several human centered strategies, such as patient cooperative and support motor function assessment, oriented to the development of robot behaviors have been widely studied [2]. These strategies allow the development of patient driven behaviors that rely on the active force contributed by the patient, to achieve the desired trajectories.…”

Section: Introductionmentioning

confidence: 99%

Adaptive walking assistance based on human-orthosis interaction

Rajasekaran

Aranda

Casals

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-An assistive rehabilitation strategy for a lowerlimb wearable robot is proposed and evaluated. The control strategy monitors the human-orthosis interaction torques and modifies the orthosis operation mode depending on its evolution with respect to a normal gait pattern. The control algorithm relies on the adaptation of the joints stiffness in function of these interaction torques and to the deviation from the desired trajectory. A walking pattern, an average of recorded gaits, is used as reference input. The human-orthosis interaction torques are used to define the time instant when robot assistance is needed and its degree. The objective of this work is to demonstrate the feasibility of ensuring a dynamic stability by means of an efficient real-time stiffness adaptation for multiple joints and simultaneously maintaining their synchronization. The algorithm has been tested with five healthy subjects showing its efficient behavior in maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from Spinal cord injury and Stroke.

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Review of assistive strategies in powered lower-limb orthoses and exoskeletons

Cited by 591 publications

References 57 publications

Walking of biped with passive exoskeleton: evaluation of energy consumption

Walking of biped with passive exoskeleton: evaluation of energy consumption

The Energy Amplification Characteristic Research of a Multimodal Actuator

Adaptive walking assistance based on human-orthosis interaction

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