In order to achieve the normal walking of hemiplegic patients, this paper proposes a single-legged exoskeleton robot according to the bionics principle, and presents an adaptive adjustment strategy for walking characteristics. The least square regres...
Children with cerebral palsy (CP) experience reduced quality of life due to limited mobility and independence. Recent studies have shown that lower-limb exoskeletons (LLEs) have significant potential to improve the walking ability of children with CP...
The demand for remote rehabilitation is increasing, opening up convenient and effective home-based therapy for the sick and elderly. In this study, we use AnyBody simulations to analyze muscle activity and determine key parameters for designing a reh...
In this study, we developed a single leg knee joint assistance robot. Commonly used exoskeletons have a left-right pair, but when only one leg of the wearer is uncomfortable, it is effective to wear the exoskeleton on only the uncomfortable leg. The...
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...
Intelligent lower-limb exoskeleton rehabilitation robots are increasingly superseding traditional rehabilitation equipment, making them a focus of research in this field. However, existing systems remain challenged by dynamic instability resulting fr...
Active power-assist lower limb exoskeleton robots aim to enhance wearer assistance while ensuring wearer comfort and simplifying the exoskeleton’s design and control. This study proposes an active assistance method known as Equivalent Force on...
The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and l...
Monitoring physical demands during task execution with exoskeletons can be instrumental in understanding their suitability for industrial tasks. This study aimed at developing a fatigue level prediction model for Back-Support Industrial Exoskeletons...
In this paper, we present a knee exoskeleton. Due to the complicated structure of the knee, an exoskeleton can limit the wearer’s movement (e.g., when completely sitting down). To prevent this, the proposed exoskeleton is designed to move the a...
With ever-rising population comes a corresponding rise in people with mobility issues who have difficulty handling tasks in their daily lives. Such persons could benefit significantly from an active movement assistance device. This paper presents the...
Robotic legs, such as for lower-limb exoskeletons and prostheses, have bimodal operation: (1) within a task, like for walking (high speed and low force for the swing phase and low speed and higher force when the leg bears the weight of the system); (...
The phase detection of abnormal gait and the prediction of lower-limb angles are key challenges in controlling lower-limb exoskeletons. This study simulated three types of abnormal gaits: scissor gait, foot-drop gait, and staggering gait. To enhance...
5 August 2020
Human-gait-phase-recognition is an important technology in the field of exoskeleton robot control and medical rehabilitation. Inertial sensors with accelerometers and gyroscopes are easy to wear, inexpensive and have great potential for analyzing gai...
This paper presents a real-time framework for bilateral gait reconstruction and adaptive joint control using sparse inertial sensing. The system estimates full lower-limb motion from a single-side inertial measurement unit (IMU) by applying a pipelin...
12 December 2021
Exoskeletons and exosuits (exos) are wearable devices that physically assist movement. User comfort is critically important for societal adoption of exos. Thermal comfort (a person’s satisfaction with their thermal environment) represents a key...