The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper, we focus on the mechanical design of an active knee orthosis. The proposed kinematic design is inspired by the knee biomechanics. Therefore, it is expected that the proposed configuration will help to provide more natural gait during theraphy sessions of patients or in daily use as a sophisticated system. It is based on efficiently controlling the knee motions with hybrid actuations. The two actuators will be implemented with the proposed design; one as hamstring and the other as quadriceps. It is anticipated that the new system will offer an enhanced walking capacity for the patients.

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In this paper, teleoperated control of a mobile robot with two arms is implemented. An exoskeleton type motion capturing device is designed and built for controlling the robot remotely through wireless communication. Kinematics of the exoskeleton type motion capturing system are analyzed and simulation studies are conducted to confirm certain ranges of workspace without singular positions. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

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Exoskeletons are attracting great attention as a new means of rehabilitation devices. In such applications, control algorithms ofexoskeletons are often inspired by nature for natural and effective assistance for patients. In this paper, a control algorithm inspired by aquatic therapy is introduced. Aquatic therapy provides various beneficial effects for rehabilitation based on useful properties of water, e.g., buoyancy and drag. The proposed controller calculates joint torques equivalent to the buoyant and drag forces. Then, an exoskeleton-type assistive device generates the calculated joint torques to provide the similar effects as aquatic therapy. In this paper, the Sogang University biomedical assist robot is utilized as a testbed. This paper also discusses the mechanical impedance of actuators, which obstructs implementation of controllers in practice. The resistive forces generated by actuators are precisely modeled and compensated to realize the control algorithm inspired by aquatic therapy correctly and effectively.

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In this paper we describe the design and evaluation of a passive lower limb assistive exoskeleton based on omnidirectional rehabilitation vehicle. According to the leg dynamics during assisted walking, we optimize the design parameters to make the lower limb obtain the most positive energy. We employ MACCEPA (mechanically adjustable compliance and controllable equilibrium position actuator) in design which generates the constant torque in knee joint. Experiments were performed on injured people and their results verify the system effect in reducing physical power.

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In this paper, the exoskeleton robot is first briefly introduced, the mathematical model for the upper limb exoskeleton robot and the force and position double-closed-loop control system are discussed. Then the authors discuss the type design of all sectors for the control system, and the various components of the system are given. Lastly, through the use of Matlab’s Simulink software, the simulation of the upper limb exoskeleton robot is carried out and the response characteristics of the brushless DC motor PID control system are analyzed. The results show that the use of the PID control system has good characteristics of fast responsibility and stable signal output.

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