Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon

Griffin, Robert J.; Cobb, Tyson C.; Craig, Travis; Daniel, Mark; Dijk, Nick van; Gines, Jeremy; Krämer, Koen; Shah, Shriya; Siebinga, Olger; Smith, Jesper; Neuhaus, Peter

doi:10.1109/mra.2017.2754284

Cited by 39 publications

(51 citation statements)

References 11 publications

(17 reference statements)

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“…These four points are converted to joint motion by the minimum jerk trajectory algorithm. Mina v2 [50], which came second in the 2016 Cybathlon Powered Exoskeleton competition, is designed to help paraplegic patients regain walking ability. The Mina v2 has six active DOFs in the sagittal plane in the hips, knees and ankles.…”

Section: Gait Trajectoriesmentioning

confidence: 99%

“…Index of articles Gait trajectory based [14], [15], [16], [17], [18]- [20], [21], [22], [23], [24], [25], [26], position assistance [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43]- [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58] Posture estimation based [59], [60], [61], [62], [63], [64], [65] position assistance I...…”

Section: Control Strategymentioning

confidence: 99%

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A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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Section: Gait Trajectoriesmentioning

confidence: 99%

Section: Control Strategymentioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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“…[5][6][7][8][9][10][11][12] A lot of studies about the lower-limb exoskeletons have been developed to assist the impaired populations. Several commercial devices including Rewalk TM ; 13,14 Ekso TM ; 15,16 HAL r ; [17][18][19][20] and Indego TM ; [21][22][23][24][25] are on the market. Mina v2 [26][27][28] (Florida Institute for Human and Machine Cognition, USA) and WalkON Suit 29,30 (Sogang University, South Korea) are the representational devices of universities and other research establishments.…”

Section: Introductionmentioning

confidence: 99%

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

Zheng

Liu

Wang

et al. 2019

J. Mech. Med. Biol.

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Lower-limb exoskeletons are an effective means to provide paraplegic and hemiplegic individuals with the ability to walk upright. A lot of studies about lower-limb exoskeletons have been developed to assist the impaired populations. However, the existing devices are still too technically complex and expensive for practicality. In this paper, a compact lower-limb exoskeleton for walking assistance is developed, in which a steel-cable actuator is specially designed. In order to accomplish the different tasks presented to gait generation, a control method with multiple stages is employed. In this approach, four basic states and seven intended motions are designed for the finite-state machine. In addition, the reference trajectories of these intended motions are presented and fitted by a modified first-order polynomialfitting method. Preliminary motion tests of the exoskeleton with three healthy subjects are performed. The results verify the effectiveness of the system design and the gait-generation approach proposed in this paper. The overall exoskeleton system is compact and the corresponding operations are convenient and reliable.

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“…Current research addresses various aspects of exoskeleton functionality, such as providing mobility to patients who are confined to a wheelchair (Esquenazi et al, 2012 ) or are suffering from muscular weakness (e.g., the elderly and infirm; Sankai, 2010 ), improving rehabilitation (neurological or orthopedic) and recovery efficacy (Colombo et al, 2000 ; Veneman et al, 2007 ), and augmenting the performance of healthy individuals during heavy load carrying tasks (Guizzo and Goldstein, 2005 ; Walsh et al, 2007 ). Recent achievements in lower-limb exoskeleton assistance include successes in robot-assisted walking (Raj et al, 2011 ; Hassan et al, 2014 ; Sanz-Merodio et al, 2014 ; Griffin et al, 2017 ), stair ascent and descent (Xu et al, 2017 ), and sit-to-stand movements (Tsukahara et al, 2010 ). Additionally, other studies have focused on the reduction of exoskeleton's energy consumption during task performance through the use of elastic and dissipative elements (Wang et al, 2011 ; Kim et al, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

Stability of Mina v2 for Robot-Assisted Balance and Locomotion

et al. 2018

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The assessment of the risk of falling during robot-assisted locomotion is critical for gait control and operator safety, but has not yet been addressed through a systematic and quantitative approach. In this study, the balance stability of Mina v2, a recently developed powered lower-limb robotic exoskeleton, is evaluated using an algorithmic framework based on center of mass (COM)- and joint-space dynamics. The equivalent mechanical model of the combined human-exoskeleton system in the sagittal plane is established and used for balance stability analysis. The properties of the Linear Linkage Actuator, which is custom-designed for Mina v2, are analyzed to obtain mathematical models of torque-velocity limits, and are implemented as constraint functions in the optimization formulation. For given feet configurations of the robotic exoskeleton during flat ground walking, the algorithm evaluates the maximum allowable COM velocity perturbations along the fore-aft directions at each COM position of the system. The resulting velocity extrema form the contact-specific balance stability boundaries (BSBs) of the combined system in the COM state space, which represent the thresholds between balanced and unbalanced states for given contact configurations. The BSBs are obtained for the operation of Mina v2 without crutches, thus quantifying Mina v2's capability of maintaining balance through the support of the leg(s). Stability boundaries in single and double leg supports are used to analyze the robot's stability performance during flat ground walking experiments, and provide design and control implications for future development of crutch-less robotic exoskeletons.

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Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon

Cited by 39 publications

References 11 publications

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

Stability of Mina v2 for Robot-Assisted Balance and Locomotion

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