1,633 research outputs found
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This manuscript presents control of a high-DOF fully actuated lower-limb
exoskeleton for paraplegic individuals. The key novelty is the ability for the
user to walk without the use of crutches or other external means of
stabilization. We harness the power of modern optimization techniques and
supervised machine learning to develop a smooth feedback control policy that
provides robust velocity regulation and perturbation rejection. Preliminary
evaluation of the stability and robustness of the proposed approach is
demonstrated through the Gazebo simulation environment. In addition,
preliminary experimental results with (complete) paraplegic individuals are
included for the previous version of the controller.Comment: Submitted to IEEE Control System Magazine. This version addresses
reviewers' concerns about the robustness of the algorithm and the motivation
for using such exoskeleton
Development of a Wearable Exoskeleton for Arm Rehabilitation
With the increasing population of aging and disabled individuals, the need for a more effective and efficient solutions is at peak, Powered Exoskeletons are wearable robots that can be attached to the disabled limb with the goal of adding power to, or rectifying the limb functionality , one of its application is rehabilitation. This study review relevant research, technologies and products, while critically analyzing them and addressing some of the current problem faced by the researchers in this field, such as the use EMG signal as a primary input to the controller. This research propose an adaptive EMG-based upper limb exoskeleton that is built on a fuzzy controller. The paper strives to propose a wearable general-user Exoskeleton, Built around an interactive gaming interface to engage the patients in the rehabilitation process. The games and exoskeleton assistance degree can be preset â on medical supervision â to different training patterns. Ultimately, the project strives to afford normal daily life for those who needs it
Knee Exoskeletons Design Approaches to Boost Strength Capability: A Review
Exoesqueleto para incrementar la fuerza en las rodillasThere are different devices to increase the strength capacity of people with walking
problems. These devices can be classified into exoskeletons, orthotics, and braces. This review
aims to identify the state of the art in the design of these medical devices, based on an analysis
of patents and literature. However, there are some difficulties in processing the records due to
the lack of filters and standardization in the names, generating discrepancies between the search
engines, among others. Concerning the patents, 74 patents were analyzed using search engines
such as Google Patents, Derwent, The Lens, Patentscope, and Espacenet over the past ten years. A
bibliometric analysis was performed using 63 scientific reports from Web of Science and The Lens
in the same period for scientific communications. The results show a trend to use the mechanical
design of exoskeletons based on articulated rigid structures and elements that provide force to move
the structure. These are generally two types: (a) elastic elements and (b) electromechanical elements.
The United States accounts for 32% of the technological patents reviewed. The results suggest that
the use of exoskeletons or orthoses customized to the usersâ needs will continue to increase over
the years due to the worldwide growth in disability, particularly related to mobility difficulties and
technologies related to the combined use of springs and actuators
- âŠ