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...
Exoskeleton robots are functioning in contexts with more complicated motion control needs as a result of the technology and applications for these robots rapidly developing. This calls for novel control techniques to accommodate their employment in a...
This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model...
In order to solve poor coordination between the exoskeleton and the human leg, this article analyzed the spatiotemporal characteristics of lower limb motion using data collection from human walking gait experiments. According to the macro- and micro-...
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...
Robotic exoskeletons have great potential in the medical rehabilitation and augmentation of human performance in a variety of tasks. Proposing effective and adaptive control strategies is one of the most challenging issues for exoskeleton systems to...
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...
The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer con...
Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. In order to be successfully integrated into the current society, these devices must comply with several commercialization...
Wearing an exoskeleton, the human body constantly experiences mechanical loading. However, quantifying internal loads within the musculoskeletal system remains challenging, especially during unconstrained dynamic activities such as manual material ha...
The engineering of actuation systems for active exoskeletons presents a significant challenge due to the stringent demands for mass reduction and compactness, coupled with complex specifications for actuator dynamics and stroke length. This challenge...
Lower limb exoskeletons significantly enhance human functionality. However, simultaneously improving the load capacity of these devices while reducing metabolic costs presents a major challenge in the industry. This paper presents a lower limb exoske...
This paper presents the development of an instrumented exoskeleton with baropodometry, electromyography, and torque sensors. The six degrees of freedom (Dof) exoskeleton has a human intention detection system based on a classifier of electromyographi...
With an aging population and the high incidence of neurological diseases, rehabilitative lower limb exoskeleton robots, as a wearable assistance device, present important application prospects in gait training and human function recovery. As the core...
Exoskeletons are the mechanical systems whose operation is carried out in close cooperation with the human body. In this paper, the authors describe a mathematical model of the hydraulic exoskeleton of a lower limb. The coordinates of characteristic...
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...
Powered ankle exoskeletons have become efficient ability-enhancing and rehabilitation tools that support human body movements. Traditionally, the control schemes for ankle exoskeletons were implemented relying on precise physical and kinematic models...
The lower limb exoskeleton is a wearable human–robot interactive equipment, which is tied to human legs and moves synchronously with the human gait. Gait tracking accuracy greatly affects the performance and safety of the lower limb exoskeleton...
To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The a...
In order to reduce the energy consumption of human daily movement without providing additional power, we considered the biomechanical behavior of the knee during external impedance interactions. Based on the theory of human sports biomechanics, combi...
With the increase in the elderly population in China and the growing number of individuals who are unable to walk normally, research on lower limb exoskeletons is becoming increasingly important. This study proposes a complete dynamic model parameter...
Biomimetic knee exoskeletons often struggle to balance accurate replication of joint biomechanics with efficient torque transmission. This study presents a knee exoskeleton featuring a single-stage planetary gear set with three coupled interface gear...
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and e...
A typical man–machine coupling system could provide the wearer a coordinated and assisted movement by the lower limb exoskeleton. The process of cooperative movement relies on the accurate perception of the wearer’s human movement informa...
Long-term manual material handling (MMH) work leads to the trend of the younger onset of work-related musculoskeletal disorders (WMSDs), with low back pain (LBP) being the most common, which causes great trouble for both society and patients. To effe...
One of the primary reasons for wearable exoskeleton rejection is user discomfort caused by misalignment between the coupled system, i.e., the human limb and the exoskeleton. The article focuses primarily on the solution strategies for misalignment is...
Aiming at a pneumatic artificial muscle (PAM) lower extremity exoskeleton, a control mechanism based on hybrid phase sliding mode control (SMC) is proposed. First of all, the human gait cycle is mainly divided into the swing phase and stance phase, a...
The gait phase classification method is a key technique to control an exoskeleton robot. Different people have different gait features while wearing an exoskeleton robot due to the gap between the exoskeleton and the wearer and their operation habits...
Soft exoskeletons (exosuits) are expected to provide a comfortable wearing experience and compliant assistance compared with traditional rigid exoskeleton robots. In this paper, an exosuit with twisted string actuators (TSAs) is developed to provide...
The choice of torque curve in lower-limb enhanced exoskeleton robots is a key problem in the control of lower-limb exoskeleton robots. As a human–machine coupled system, mapping from sensor data to joint torque is complex and non-linear, making...
Hand rehabilitation exoskeletons play a critical role in restoring motor function in patients with stroke or hand injuries. However, most existing designs rely on fixed-axis assumptions, neglecting the rolling–sliding coupling of finger joints...
Exoskeleton robots function as augmentation systems that establish mechanical couplings with the human body, substantially enhancing the wearer’s biomechanical capabilities through assistive torques. We introduce a lumbar spine-assisted exoskel...
In recent years, with the development of robot transmission technology, the market demand for high-performance actuators, which can be applied to lower limb exoskeleton assist robots, is increasing. These robots help achieve human–robot interac...
Aiming at the lack of active willingness of patients to participate in the current upper limb exoskeleton rehabilitation training control methods, this study proposed a radial basis function (RBF) sliding mode impedance control method based on surfac...
Motion capture of the human body potentially holds great significance for exoskeleton robots, human-computer interaction, sports analysis, rehabilitation research, and many other areas. Dielectric elastomer sensors (DESs) are excellent candidates for...
Accurately perceiving and predicting the parameters related to human walking is very important for man–machine coupled cooperative control systems such as exoskeletons and power prostheses. Plantar pressure data is rich in human gait and posture info...
This study proposes a bioinspired exotendon routing configuration for a tendon-based mechanism to provide finger flexion and extension that utilizes a single motor to reduce the complexity of the system. The configuration was primarily inspired by th...
Human gait exhibits stable contralateral coupling, making healthy-side motion a viable predictor for affected-limb kinematics. Leveraging this property, this study develops FusionTCN–Attention, a causality-preserving temporal model designed to...
Perchlorate is a well-known thyroid-disrupting chemical as well as an extremely stable inorganic pollutant widely distributed in the environment. Therefore, perchlorate posts potential risks to the environment as well as human health. Crayfish is a d...
Bilateral teleoperation combines the agility of robotic manipulators with the ability to perform complex contact tasks guided by human expertise, thereby fulfilling a pivotal function in environments beyond human access. However, due to the limited w...
21 May 2023
Robots have been deployed in workplaces to assist, work alongside, or collaborate with human workers on various tasks, which introduces new occupational safety and health hazards and requires research efforts to address these issues. This study inves...
In an era defined by rapid technological advancements, the intersection of artificial intelligence and industrial innovation has garnered significant attention from both academic and industry stakeholders. The emergence of Industry 4.0, characterized...
Most exoskeletons designed to assist users in load-bearing tasks face a mechanical dilemma in their conception. Designers may find a compromise between stiff active actuators-based architectures which are powerful but bulky and compliant actuator-bas...
The hadal zone and Antarctic Ocean are two of the least-explored habitats. Knowledge about human impacts on these two extreme environments is limited. Here, we analyzed the metal accumulations of two amphipod species, Eurythenes gryllus, from the Mar...
Accurately decoding human locomotion intention from physiological signals remains a significant hurdle for the seamless control of advanced rehabilitation devices like exoskeletons and intelligent prosthetics. Conventional recognition methods often f...