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Optimization and Design of a Cable Driven Upper Arm Exoskeleton

Дата: Сентябрь 2nd, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6849
  • Название документа: Optimization and Design of a Cable Driven Upper Arm Exoskeleton
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Sunil K. Agrawal, Venketesh N. Dubey, John J. Gangloff Jr., Elizabeth Brackbill, Vivek Sangwan
  • Правопреемник/учебное заведение: Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, School of Design, Engineering and Computing, Bournemouth University, Fern Barrow
  • Дата публикации документа: 2009-09-02
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Proceedings of the ASME 2009 International Design Engineerin
  • Вложения: Да
  • Аналитик: Глаголева Елена

This paper presents the design of a wearable upper arm exoskeleton that can be used to assist and train arm movements of stroke survivors or subjects with weak musculature. In the last ten years, a number of upper-arm training devices have emerged. However, due to their size and weight, their use is restricted to clinics and research laboratories. Our proposed wearable exoskeleton builds upon our extensive research experience in wire driven manipulators and design of rehabilitative systems. The exoskeleton consists of three main parts: an inverted U-shaped cuff that rests on the shoulder, a cuff on the upper arm, and a cuff on the forearm. Six motors, mounted on the shoulder cuff, drive the cuffs on the upper arm and forearm, using cables. In order to assess the performance of this exoskeleton, prior to use on humans, a laboratory test-bed has been developed where this exoskeleton is mounted on a model skeleton, instrumented with sensors to measure joint angles and transmitted forces to the shoulder. This paper describes design details of the exoskeleton and addresses the key issue of parameter optimization to achieve useful workspace based on kinematic and kinetic models.

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Категория: Научные статьи | Нет комментариев »


An Elastic Exoskeleton for Assisting Human Running

Дата: Сентябрь 2nd, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6768
  • Название документа: An Elastic Exoskeleton for Assisting Human Running
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Michael S. Cherry, Sridhar Kota, Daniel P. Ferris
  • Правопреемник/учебное заведение: Department of Mechanical Engineering University of Michigan, School of Kinesiology University of Michigan
  • Дата публикации документа: 2009-09-02
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Proceedings of the ASME 2009 International Design Engineerin
  • Вложения: Да
  • Аналитик: Глаголева Елена

This paper presents the design and preliminary evaluation of an elas-tic lower-body exoskeleton. Human legs behave in a spring-like fashion while running. We selected a design that relied solely on material elasticity to store and release energy during the stance phase of running. The exoskeleton included a novel knee joint with a cam and a Bowden cable transferring energy to and from a waist-mounted extension spring. We used a friction-lock clutch controlled by hip angle via a pneumatic cylinder to release the cable during swing phase for free movement of the leg. The design also incorpora-ted a composite leaf spring to store and release energy in the distal portion of the exoskeleton about the foot and ankle. Preliminary test data for our target subject showed that his typical leg deflection was 0.11 m with leg stiffness of 16 kN/m while running at 3.0 m/s. We used these values to set the desired stiffness (60%15% of the normal leg stiffness, or 9.62.4 kN/m) and deflection (0.11 m) of the exoskeleton. We created simplified multi-body and full finite element quasi-static models to achieve the desired system stiffness and validate our results, respectively. The final design model had an overall stiffness of 7.3 kN/m, which was within the desired range. We fabricated a single-leg prototype of the exoskeleton that weighed 7.1 kg. We tested the exoskeleton stiffness quasi-statically and found a stiffness of 3.6 kN/m. While running, the exoskeleton provided 30% of the total leg stiffness for two subjects. Although the stiffness was lower than desired, the fabricated prototype demonstrated the ability of a quasi-passive exoskeleton to provide a significant portion of an individual’s leg stiffness while running.

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Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton

Дата: Август 26th, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6560
  • Название документа: Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Kazuo Kiguchi, Manoj Liyanage, Yasunori Kose
  • Правопреемник/учебное заведение: Graduate School of Science and Engineering, Saga University
  • Дата публикации документа: 2009-08-26
  • Страна опубликовавшая документ: Япония
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Journal of Robotics and Mechatronics Vol.21 No.5, 2009
  • Вложения: Да
  • Аналитик: Глаголева Елена

This paper presents perception assistance with an active camera for an upper-limb power-assist exoskeleton that assists user perception as well as user motion when the user interacts with the environment using sensors of the exoskeleton. The active stereo camera monitors user interaction with the environment, so the exoskeleton identifies objects that can be touched or grabbed by the user. Stereo camera positioning is controlled to continuously track the exoske-leton end-effector, ensuring that the user’s hand always lies within the camera viewfield. If any obstacle might block the camera viewfield, the camera is controlled to avoid the obstacle. The effectiveness of the proposed concept is evaluated in experiments.

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Intuitiveness facilitates Rehabilitation: Clinical results

Дата: Август 21st, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1474
  • Название документа: Intuitiveness facilitates Rehabilitation: Clinical results
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2009.5209545
  • Изобретатель/автор: Saint-Bauzel, L., Pasqui, V., Monteil, I.
  • Правопреемник/учебное заведение: ISIR, Paris, France
  • Дата публикации документа: 2009-08-21
  • Страна опубликовавшая документ: Франция
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

This article presents how an adapted design of a mechatronics system and its control can lead to an intuitive interface for patients performing sit-to-stand motions. We focus on the design of a control based on fuzzy rules obtained by an analysis of external interaction forces subjects during motion. Experiments are done with 10 diseased patients in Bellan hospital and show a good learning rate.

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Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

Дата: Август 21st, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1094
  • Название документа: Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2009.5209513
  • Изобретатель/автор: Satici, A.C., Patoglu, V., Erdogan, A.
  • Правопреемник/учебное заведение: Fac. of Eng. & Natural Sci., Sabanci Univ., Istanbul, Turkey
  • Дата публикации документа: 2009-08-21
  • Страна опубликовавшая документ: Турция
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The prototype of the device is also presented.

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