In the research and development of a passive exoskeleton, the body–exoskeleton coupling mode is a key point to reduce the interaction force and realize the efficient assistance of the exoskeleton. The purpose of this paper was to explore a coop...
Accurate interaction force estimation can play an important role in optimizing human–robot interaction in an exoskeleton. In this work, we propose a novel approach for the system identification of exoskeleton dynamics in the presence of interac...
Nowadays, robotic technology for gait training is becoming a common tool in rehabilitation hospitals. However, its effectiveness is still controversial. Traditional control strategies do not adequately integrate human intention and interaction and li...
Cycling stands as one of the most widely embraced leisure activities and serves purposes such as exercise, rehabilitation, and commuting. This study aimed to assess the feasibility of assisting three unimpaired participants (age: 34.0 ± 7.9 ye...
Exoskeleton robots hold promising prospects for rehabilitation training in individuals with weakened muscular conditions. However, achieving improved human–machine interaction and delivering customized assistance remains a challenging task. Thi...
Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without phy...
The article addresses the development of an innovative mechanical and information technology (IT) solution in the form of a three-dimensional (3D) printed hand exoskeleton, enabling the rehabilitation of people with special needs (with the participat...
In this study, we introduce a two-dimensional (2D) human skeletal model coupled with knee, spine, and shoulder exoskeletons. The primary purpose of this model is to predict the optimal lifting motion and provide torque support from the exoskeleton th...
This study aims to assess the whole-body physiological effects of wearing an exoskeleton during a one-hour standardized work task, utilizing the Cardiac Index (CI) as the target parameter. N = 42 young and healthy subjects with welding experience too...
The number of exoskeletons providing load-lifting assistance has significantly increased over the last decade. In this field, to take full advantage of active exoskeletons and provide appropriate assistance to users, it is essential to develop contro...
Background/Objectives: Musculoskeletal disorders of the lower back remain one of the leading causes of work-related health problems in occupations involving manual material handling. Passive industrial exoskeletons have gained increasing attention as...
In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskele...
Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance...
This paper addresses a design for an exoskeleton used for human locomotion purposes in cases of people with neuromotor disorders. The reason for starting this research was given by the development of some intelligent systems for walking recovery invo...
Recent advancements in exoskeleton technology, both passive and active, are driven by the need to enhance human capabilities across various industries as well as the need to provide increased safety for the human worker. This review paper examines th...
(1) Background: To enhance the walking-assistance efficiencies of exoskeletons, this paper proposed the biomechanical-based cooperativity model based on a passive exoskeleton prototype to fill the technical gap in exoskeleton design regarding the tor...
To address lower limb fatigue in workers engaged in prolonged standing, this study proposes a structural design for a medial-support passive exoskeleton seat. The design incorporates support rods positioned along the medial aspect of the user’s...
The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus being convenient in assisting humans. However, the performance of an exoskeleton is limited by the structure and human–exoskeleton interaction...
Due to the ever-increasing proportion of older people in the total population and the growing awareness of the importance of protecting workers against physical overload during long-time hard work, the idea of supporting exoskeletons progressed from...
Shoulder injuries due to labor-related lifting tasks are widespread in manufacturing and logistics companies. Prolonged shifts and repetitive motions lead to muscle fatigue, significantly elevating the risk of both acute accidents and chronic musculo...
With the advancement of exoskeleton technology, the need for accurate adaptation to users’ movements for effective human–exoskeleton interaction is paramount. Therefore, predicting lower-limb joint trajectories, including hip, knee and an...
Motion assistance is a growing need that is linked to the aging of the population, and solutions are required with adequate structures and functionality. Specific attention is paid to finger exoskeletons both for motion exercises and for rehabilitati...
An exoskeleton, a wearable device, was designed based on the user’s physical and cognitive interactions. The control of the exoskeleton uses biomedical signals reflecting the user intention as input, and its algorithm is calculated as an output...
This paper describes a control strategy for a linkage finger exoskeleton mechanism with two degrees of freedom. To characterise the performance of the proposed finger motion assistance device, a replica of a human finger is prototyped to mimic human...
Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometri...
This paper presents a new solution for an exoskeleton robotic system that is used for locomotor assistance in people with locomotor disabilities. As novel features of the present research, a novel structural solution of a plane-parallel kinematic cha...
Upper limb exoskeletons may confer significant mechanical advantages across a range of tasks. The potential consequences of the exoskeleton upon the user’s sensorimotor capacities however, remain poorly understood. The purpose of this study was...
Background/Objectives: This study investigated the biomechanics of a hip exoskeleton during sit-to-stand transitions. Methods: Eleven participants performed the task under three conditions: without the exoskeleton (No Exo), wearing the exoskeleton wi...
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Overhead work activities can lead to shoulder pain and serious musculoskeletal disorders (WMSD), such as rotator cuff injury and degeneration. Recently developed exoskeletons show promising results in supporting workers in such activities. In this st...
Augmentative exoskeletons (AEs) are wearable orthotic devices that, when coupled with a healthy individual, can significantly enhance endurance, speed, and strength. Exoskeletons are function-specific and individual-specific, with a multitude of poss...
In this paper, a portable exoskeleton for the rehabilitation of upper extremities of three degrees of freedom (DOF) is proposed. With these degrees of freedom, the exoskeleton provides the movements of flexion–extension and abduction–addu...
The ankle exoskeleton is an auxiliary device designed to restore human independence. This paper proposes the development and initial testing of a passive ankle exoskeleton designed for movements with dorsal and plantar flexion. The device also includ...
This paper presents the application of an adaptive exoskeleton for finger rehabilitation. The system consists of a force-controlled exoskeleton of the finger and wireless coupling to a mobile application for the rehabilitation of complex regional pai...
Misalignment between the rotation axis of a lower-limb exoskeleton knee joint and the human knee joint in the sagittal plane introduces additional human-exoskeleton interaction forces, affecting gait and assistance efficiency. This study proposes an...
To address the high physical demands faced by personnel engaged in power maintenance operations, this study develops a hip assistive exoskeleton capable of state recognition between level-ground walking and transmission tower climbing. The mechanical...
In this paper, a four degrees-of-freedom robotic hip exoskeleton was proposed for gait rehabilitation. The robotic hip exoskeleton was designed with active flexion/extension and passive abduction/adduction at each hip joint to comply with the movemen...
Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a contr...
In this study, a finger exoskeleton robot has been designed and presented. The prototype device was designed to be worn on the dorsal side of the hand to assist in the movement and rehabilitation of the fingers. The finger exoskeleton is 3D-printed t...
Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-...
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom...
This paper deals with the fractional order control for the complex systems, hand exoskeleton and sensors, that monitor and control the human behavior. The control laws based on physical significance variables, for fractional order models, with delays...
This research presents the results of conceptual design and modeling of an exoskeleton. It is intended for ankle joint rehabilitation in patients with musculoskeletal disorders. The exoskeleton design includes three screw actuators that smoothly cont...
An exoskeleton is a wearable device with human–machine interaction characteristics. An ideal exoskeleton should have kinematic and kinetic characteristics similar to those of the wearer. Most traditional exoskeletons are driven by rigid actuato...
The human hand is the most precise and versatile tool that nature has given man, and any deficits in this area affect the functional capabilities and quality of human life. Scientists, engineers and clinicians are constantly looking for solutions in...
Finger technique is a crucial aspect of piano learning, and hand exoskeleton mechanisms effectively assist novice piano players in maintaining correct finger technique consistently. Addressing current issues with exoskeleton robots, such as the inabi...
Exoskeleton devices are designed for applications such as rehabilitation, assistance, and haptics. Due to the nature of physical human–machine interaction, designing and operating these devices is quite challenging. Optimization methods lessen...
This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskelet...
This paper investigates the changes in sensory neural activity during exoskeleton control. Exoskeletons are becoming reliable tools for neurorehabilitation, as recent studies have shown that their use enhances neural plasticity. However, the specific...
For more than a decade, many countries have been actively developing robotic assistive devices to assist in the rehabilitation of individuals with limb disability to regain function in the extremities. The exoskeleton assistive device in this study h...
Lower-limb exoskeletons as walking assistive devices have been intensively investigated in recent decades. In these studies, intention detection and performance evaluation are important topics. In our previous studies, we proposed a disturbance obser...
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