Robotic design and modelling of medical lower extremity exoskeletons

This study aims to explain the development of the robotic Lower Extremity Exoskeleton (LEE) systems between 1960 and 2019 in chronological order. The scans performed in the exoskeleton system’s design have shown that a modeling program, such as AnyBody, and OpenSim, should be used first to observe the design and software animation, followed by the mechanical development of the system using sensors and motors. Also, the use of OpenSim and AnyBody musculoskeletal system software has been proven to play an essential role in designing the human-exoskeleton by eliminating the high costs and risks of the mechanical designs. Furthermore, these modeling systems can enable rapid optimization of the LEE design by detecting the forces and torques falling on the human muscles

Investigation of EMG signals in lower extremity muscle groups during robotic gait exercises

Many people have been exposed to lower extremity function losses due to neurological, pathological or traffic accidents. In the physical therapy and rehabilitation of these patients, treatment programs based on robotic systems have started to be preferred instead of conventional methods. In robotic gait rehabilitation, mobilized lower extremity exoskeletons such as Rewalk or un-mobilized lower extremity exoskeletons such as RoboGait are used. It is important to evaluate the rehabilitation process in patients with lower extremity problems. Measurement of surface electromyogram (EMG) signals during the treatment process give information about the functional activities of the muscles. Obtained information plays an important role in determining the intention of patient motion in musculoskeletal design and musculoskeletal activities of the musculoskeletal. Changes in muscle activation timing and amplitude during the use of lower extremity exoskeleton can be determined by analysis of EMG. In this study, muscles involved in walking movement during robotic rehabilitation were examined. The examined iliopsoas, gluteus maximus, gluteus medius muscles provide flexion, extension and abduction movements of the hip, while the medial gastrocnemius and tibialis anterior muscles perform flexion and dorsiflexion movements of the foot. During the gait, the knee joint patency is controlled by the Vastus Medialis and Biceps Femoris muscles. In this study, while 6 patients with lower limb dysfunction were walking on the RoboGait device, the muscle activation potentials obtained from 7 different muscle groups were transferred to the computer simultaneously and wirelessly and displayed in the Matlab environment. The EMG signals measured with the MicroCor Lab device are shaped according to the activation of the muscles during walking. The electrode placement plan is critical for the analysis of EMG signals, and an appropriate electrode placement plan was obtained as a result of the study. Examined measured signals by following with the electrode placement plan, the maximum gluteus and iliopsoas muscles responsible for the extension and flexion movements of the hips are more effective during walking. Gletous maximum muscle was found to be the most effective muscle in walking while the iliopsoas muscle group was involved in the first movement of the leg. As a result of this study, these findings will help to follow the development of the treatment process and to develop EMG controlled mobilized lower extremity exoskeletons

Design and development of an upper extremity performance analysis system for combat sports

The purpose of this study is to develop a training and measurement system based on kinetic and kinematic parameters for combat sports that require upper extremity performance, such as boxing, judo, and karate. This system instantly measures strength, speed, and coordination parameters with cognitive stimuli. The parameters such as force applied against colored cognitive stimuli, reaction time given to stimuli, total training time determined by the coach during the training are saved instantly by the software and reported at the end of the training. As a result, it is ensured to follow sports performance with the kinetic and kinematic data obtained from sports efficiency, develop new training methods suitable for the athlete, determine the training program's effectiveness, and predict injury risk