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Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles

Maria del Carmen Sanchez-Villamañan, Jose Gonzalez-Vargas, Diego Torricelli, Juan C. Moreno, Jose L. Pons
2019 Journal of NeuroEngineering and Rehabilitation  
Recent developments have pointed towards compliant mechanisms and structures, due to their promising potential in terms of adaptability, safety, efficiency, and comfort.  ...  In this review, we analysed 52 lower limb wearable exoskeletons, focusing on three main aspects of compliance: actuation, structure, and interface attachment components.  ...  We acknowledge support of the publication  ... 
doi:10.1186/s12984-019-0517-9 pmid:31072370 pmcid:PMC6506961 fatcat:bghjvm3wyvcjjklw2maitdki4q

A Review on the Rehabilitation Exoskeletons for the Lower Limbs of the Elderly and the Disabled

Tao Wang, Bin Zhang, Chenhao Liu, Tao Liu, Yi Han, Shuoyu Wang, João P. Ferreira, Wei Dong, Xiufeng Zhang
2022 Electronics  
We discussed the complexity and coupling of the man–machine integration system, and we hope to provide a guideline when designing a rehabilitation exoskeleton system for the lower limbs of elderly and  ...  In this paper, we review rehabilitation exoskeletons from the aspects of the overall design, driving unit, intention perception, compliant control, and efficiency validation.  ...  Acknowledgments: We are grateful to Ning Zhang (Key Laboratory of Rehabilitation Technical Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical  ... 
doi:10.3390/electronics11030388 fatcat:26vl3hns2jeqzmfxenawyezjci

A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

Miguel A. Gálvez-Zúñiga, Alejandro Aceves-López
2016 Journal of Robotics  
A mathematical description of the said misalignments is provided to better understand the concept and its consequences. This review will only focus on mechanisms aiming to comply with its user.  ...  These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user's safety and comfort.  ...  This new approach to exoskeleton design focuses on the interfaces leaving the original robot structure untouched.  ... 
doi:10.1155/2016/5751391 fatcat:oniznf74obdjbatcoj343nfnte

Structural Analysis of Exoskeleton Model through Human Synchronization Parameters

R. Rahul, Tanishq Philip Alexander, V. Rinkkhesh, H. Vikram
2018 International Journal of Bioscience Biochemistry and Bioinformatics  
Exoskeleton is a mobile machine integrated with human movements used for applications where it is difficult for humans to handle.  ...  An optimal design approach is applied for exoskeletons based on correlations between exoskeleton and limbs in human body.  ...  An exoskeleton arm is an external mechanical structure which has joints that correlates to the human arms.  ... 
doi:10.17706/ijbbb.2018.8.3.172-180 fatcat:pksoe3v7bzephlphq5i25ilsju

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

Aibek S. Niyetkaliyev, Shahid Hussain, Mergen H. Ghayesh, Gursel Alici
2017 IEEE Transactions on Human-Machine Systems  
In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements.  ...  In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements.  ...  the PhD scholarship for the first author funded by the School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong.  ... 
doi:10.1109/thms.2017.2700634 fatcat:bbkht3p5wfgy3cmwh2pxan45wy

Guest EditorialIntroduction to the Focused Section on Anthropomorphism in Mechatronic Systems

Venkat N. Krovi, Michael Goldfarb, Jean-Paul Laumond
2009 IEEE/ASME transactions on mechatronics  
His research interests include design, analysis, and prototyping of novel articulated mechanical and mechatronic systems. Dr.  ...  [21] present the design and analysis of the anthropomorphic Berkeley lower extremity exoskeleton, developed as a pair of active wearable robotic legs for force amplification and enhanced strength/endurance  ...  His current research interests include human motion studies along three perspectives: artificial motion for humanoid robots, virtual motion for digital actors and mannequins, and natural motions of human  ... 
doi:10.1109/tmech.2009.2033594 fatcat:yt4uqwnhpbaixiydbzsbgusmq4

Design of Information Acquisition and Control System for the Exoskeleton Robot

Huan Gou, Jialiu Wang, Hongfang Wu, Chao Wang, Lei Yan, Jiang Xiao
2014 Journal of Electrical and Computer Engineering  
This paper puts forward an information acquisition and control system for the exoskeleton robot, which can collect movement and location information of the robot timely through a variety of sensors.  ...  intention of human by virtue of the monitoring software on the host computer.  ...  This conception can be extended to exoskeleton robot, which is an integrated mechanism of human and machine.  ... 
doi:10.1155/2014/309814 fatcat:vk43iqc5erhqdi5zfqyqk52bay

State-of-the-art research in robotic hip exoskeletons: A general review

Bing Chen, Bin Zi, Ling Qin, Qiaosheng Pan
2019 Journal of Orthopaedic Translation  
In this article, a systematic review of robotic hip exoskeletons is presented, where biomechanics of the human hip joint, pathological gait pattern, and common approaches to the design of robotic hip exoskeletons  ...  Finally, limitations of the available robotic hip exoskeletons and their possible future directions are discussed, which could serve a useful reference for the engineers and researchers to develop robotic  ...  Human-machine interface: Physical interactions exist between the wearer and the exoskeleton, thus a user-friendly human-machine interface shall be designed for robotic hip exoskeletons.  ... 
doi:10.1016/j.jot.2019.09.006 pmid:31908928 pmcid:PMC6939102 fatcat:p7orgsh2ofbaplcecb5t2cjze4

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Abolfazl Mohebbi
2020 Current Robotics Reports  
routines in terms of activities for assistive systems and exercises for rehabilitation devices to fit each user's need and maximize their effectiveness.  ...  Summary A review of recent research and development efforts on human-robot interaction in assistive and rehabilitation robotics is presented in this paper.  ...  Guo et al. designed a hybrid human-machine interface for prosthetic control using EMG and near-infrared spectroscopy (NIRS) to overcome the limitations of using EMG only due to noise and sensor crosstalk  ... 
doi:10.1007/s43154-020-00015-4 fatcat:t6vkv6iic5apxcvt7qvlqwoxjq

A Review on Design of Upper Limb Exoskeletons

Muhammad Ahsan Gull, Shaoping Bai, Thomas Bak
2020 Robotics  
This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons.  ...  The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction  ...  The human biomechanics for exoskeleton design could also be beneficial for safe and compliant human-robot interaction.  ... 
doi:10.3390/robotics9010016 fatcat:5iiax7tq6rgszcnaqsadfssszm

Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design

Rohit John Varghese, Gaurav Mukherjee, Ashish Deshpande
2022 Frontiers in Neurorobotics  
a scalable and systematic method for improving the design of the PHRII for future devices coupled to the body.  ...  Using a novel and scalable simulation framework, HuRoSim, we quantified the interaction between the human hand and an exoskeleton.  ...  Raymond King for his advice and guidance while designing the HuRoSim platform, Kevin Shimasaki and Dr. Andrew Doxon for sharing their expertise in manufacturing and controls.  ... 
doi:10.3389/fnbot.2021.727534 pmid:35250527 pmcid:PMC8895480 fatcat:iff44vrninc5hor6pv6hczqwoa

Design and Evaluation of a Quasi-Passive Knee Exoskeleton for Investigation of Motor Adaptation in Lower Extremity Joints

Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, Aaron M. Dollar
2014 IEEE Transactions on Biomedical Engineering  
After describing the design and control, we validate the mechanical performance and reliability of the exoskeleton through cyclic testing on a mechanical knee simulator.  ...  In this study, we describe the mechanical design and control scheme of a quasi-passive knee exoskeleton intended to investigate the biomechanical behavior of the knee joint during interaction with externally  ...  ACKNOWLEDGMENT The authors would like to thank the contributions of M. Coyne, S. Corner, and L. Hasselquist in the collection of the data for this study.  ... 
doi:10.1109/tbme.2014.2307698 pmid:24845291 fatcat:fqg4jmfmzfbhxpaa4gtuhzv2s4

A Low-Cost Soft Robotic Hand Exoskeleton for Use in Therapy of Limited Hand–Motor Function

Grant Rudd, Liam Daly, Vukica Jovanovic, Filip Cuckov
2019 Applied Sciences  
We present the design and validation of a low-cost, customizable and 3D-printed anthropomorphic soft robotic hand exoskeleton for rehabilitation of hand injuries using remotely administered physical therapy  ...  Tests were conducted to verify that the range of motion of the digits and the forces exerted at the fingertip coincided with those of a healthy human hand.  ...  Healey Research Grant program of the University of Massachusetts Boston. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app9183751 fatcat:2z2x6aiqbfccxh3aky4x2v66di

2020 Index IEEE Transactions on Medical Robotics and Bionics Vol. 2

2020 IEEE Transactions on Medical Robotics and Bionics  
., +, TMRB Nov. 2020 608-618 Compliant mechanisms FEM-Based Mechanics Modeling of Bio-Inspired Compliant Mechanisms for Medical Applications.  ...  ., +, TMRB May 2020 188-195 Design, Development, and Validation of a Self-Aligning Mechanism for High-Torque Powered Knee Exoskeletons.  ...  Pneumatic actuators Characterization, Simulation and Control of a Soft Helical Pneumatic Implantable Robot for Tissue Regeneration.  ... 
doi:10.1109/tmrb.2020.3042324 fatcat:r4rzsfo755brhgqzfdrh7wi4da

Sensors and Actuation Technologies in Exoskeletons: A Review

Monica Tiboni, Alberto Borboni, Fabien Vérité, Chiara Bregoli, Cinzia Amici
2022 Sensors  
Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance  ...  A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation  ...  [29] reviewed the mechanical design principles of compliant lower limb exoskeletons. Al-Shuka et al.  ... 
doi:10.3390/s22030884 pmid:35161629 pmcid:PMC8839165 fatcat:ptbo2fuk2jfe7oywpkrolvbwja
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