Archive for 2011

Recognition of walking intention using multiple bio/kinesthetic sensors for lower limb exoskeletons

Дата: Сентябрь 24th, 2011 Автор:
+ Показать свойства документа
  • Тип контента: Научная статья
  • Номер документа: 970
  • Название документа: Recognition of walking intention using multiple bio/kinesthetic sensors for lower limb exoskeletons
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Young-Jo Cho, Su-Young Chi, Sang Seung Kang, Jae-Yeon Lee, Eun-Hye Jang, Byung-Tae Chun
  • Правопреемник/учебное заведение: Robot/Cognition Syst. Res. Dept., Telecommun. Res. Inst., Daejeon, South Korea
  • Дата публикации документа: 2010-11-17
  • Страна опубликовавшая документ: Корея
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

In order to assist the lower limb disabled people to walk, walking-support exoskeletons with bio/kinesthetic sensors such as EMG (Electromyography), gyroscope, and FSR (Force Sensing Resistor) have been developed. It is important to implicitly recognize the walking intention and control the walking-support mechanism. The objective of this work is to examine the walking intention while a person is walking with Lofstrand crutches by analyzing multiple bio/kinesthetic sensor signals. We developed watch/glove and shoe-insoles sensor modules using FSR sensors to recognize the user’s walking states as well as intention to walk. The FSR signals measuring force at the palm and Gyro sensor signals reflecting the pose of the upper limb were used as clues for recognizing walking intention. While seventeen normal subjects walked for five gate cycles based on the triped walking (i.e., placing crutches in forward and then moving one step) with crutches, the FSR and Gyro signals were acquired from their palms and area of vertebrae lumbales. The result showed that the combination of FSR and Gyro signals could recognize user’s implicit intention to walk — start walking, keep walking, and stop walking.

Категория: Ищем научные статьи | Нет комментариев »


Human Exoskeleton For Handicapped On-board Mobility II

Дата: Сентябрь 24th, 2011 Автор:
+ Показать свойства документа
  • Тип контента: Научная статья
  • Номер документа: 964
  • Название документа: Human Exoskeleton For Handicapped On-board Mobility II
  • Номер (DOI, IBSN, Патент): 10.1109/IEMBS.1991.684771
  • Изобретатель/автор: Weed, H., Sikora, P., Mortensen, A.
  • Правопреемник/учебное заведение: The Ohio State University
  • Дата публикации документа: 2002-08-06
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Категория: Ищем научные статьи | Нет комментариев »


Improved stability in lower extremity exoskeletons using foot extensions

Дата: Сентябрь 24th, 2011 Автор:
+ Показать свойства документа
  • Тип контента: Научная статья
  • Номер документа: 962
  • Название документа: Improved stability in lower extremity exoskeletons using foot extensions
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Kumar, R.P., Jungwon Yoon
  • Правопреемник/учебное заведение: Res. Center for Aircraft Parts Technol. (ReCAPT), Gyeongsang Nat. Univ., Jinju, South Korea
  • Дата публикации документа: 2009-11-13
  • Страна опубликовавшая документ: Корея
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Existing lower extremity exoskeletons lack sufficient foot support area to guarantee safe operation for rehabilitation of patients, and normal posture/gait for users carrying heavy loads on backpack. In order to enhance the stability of lower extremity exoskeletons, an adaptive foot system is presented. It consists of two foot extensions, one extending behind the toe and another on the heel side that extends the support area behind the heel when the foot is flat and retracts when the heel is off the ground. Such a system has an important application in rehabilitation for enhancing stability where safety of patients is critical. We present a detailed description of the adaptive foot system and analyze the stability in sagittal plane.

Категория: Ищем научные статьи | Нет комментариев »


On active lower limb exoskeletons actuators

Дата: Сентябрь 24th, 2011 Автор:
+ Показать свойства документа
  • Тип контента: Научная статья
  • Номер документа: 960
  • Название документа: On active lower limb exoskeletons actuators
  • Номер (DOI, IBSN, Патент): 10.1109/ISMA.2008.4648796
  • Изобретатель/автор: Cocetta, M., Cinquemani, S., Casolo, F.
  • Правопреемник/учебное заведение: Dipt. di Meccanica, Politec. di Milano, Milan
  • Дата публикации документа: 2008-10-14
  • Страна опубликовавшая документ: Италия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Carrying a load increases the metabolic costs of movement: exoskeletons are devices developed primarily to minimize the operatorpsilas energetic contribution for the action. The rise of the exoskeletons research can be set in the second half of the past century. The most important contribution given by these early attempts to develop supporting structures for human use, was to identify and focus the researcherpsilas attention on some key aspects, fundamental for a further implementation of these devices. Among them, the importance of efficient and small supply systems, of precision and control, o simple human interface and of the knowledge of locomotion biomechanics. The aim is a technological approach capable to match the artificial system with the human beings with minimum interactions and maximum synergy. This work deal with the state of art of the projects facing with the development of exoskeletons and active orthoses for the lower limbs. It focuses the actuators problem showing advantages and disadvantages of a variety of technological alternatives. The work is the starting point for a new exoskeleton design.

Категория: Ищем научные статьи | Нет комментариев »


Model predictive control-based gait pattern generation for wearable exoskeletons

Дата: Сентябрь 24th, 2011 Автор:
+ Показать свойства документа
  • Тип контента: Научная статья
  • Номер документа: 958
  • Название документа: Model predictive control-based gait pattern generation for wearable exoskeletons
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2011.5975442
  • Изобретатель/автор: van der Kooij, H., Van Asseldonk, E.H.F., Letian Wang
  • Правопреемник/учебное заведение: Lab. of Biomech. Eng., Univ. of Twente, Enschede, Netherlands
  • Дата публикации документа: 2011-08-12
  • Страна опубликовавшая документ: Нидерланды (Голландия)
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

This paper introduces a new method for controlling wearable exoskeletons that do not need predefined joint trajectories. Instead, it only needs basic gait descriptors such as step length, swing duration, and walking speed. End point Model Predictive Control (MPC) is used to generate the online joint trajectories based on these gait parameters. Real-time ability and control performance of the method during the swing phase of gait cycle is studied in this paper. Experiments are performed by helping a human subject swing his leg with different patterns in the LOPES gait trainer. Results show that the method is able to assist subjects to make steps with different step length and step duration without predefined joint trajectories and is fast enough for real-time implementation. Future study of the method will focus on controlling the exoskeletons in the entire gait cycle.

Категория: Ищем научные статьи | Нет комментариев »