Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton

This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this paper: 1) a new wearable structure optimizes the strap attachment configuration and suit layout to ameliorate excessive shear forces of conventional wearable structure design; 2) rolling knee joint and double-hinge mechanisms reduce the misalignment in the sagittal and frontal plane, without increasing the mechanical complexity and inertia, respectively; 3) a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highly-backdrivable. Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm root mean square (RMS) low resistive torque. The torque control experiments demonstrate 0.31 Nm RMS torque tracking error in three human subjects.Comment: 8 pages, 16figures, Journa

Wearable Knee Assistive Devices for Kneeling Tasks in Construction

Construction workers regularly perform tasks that require kneeling, crawling, and squatting. Working in awkward kneeling postures for prolonged time periods can lead to knee pain, injuries, and osteoarthritis. In this paper, we present lightweight, wearable sensing and knee assistive devices for construction workers during kneeling and squatting tasks. Analysis of kneeling on level and slopped surfaces (0, 10, 20 degs) is performed for single- and double-leg kneeling tasks. Measurements from the integrated inertial measurement units are used for real-time gait detection and lower-limb pose estimation. Detected gait events and pose estimation are used to control the assistive knee-joint torque provided by lightweight exoskeletons with powerful quasi-direct drive actuation. Human subject experiments are conducted to validate the effectiveness of the proposed analysis and control design. The results show reduction in knee extension/flexion muscle activation (up to 39%) during stand-to-kneel and kneel-to-stand tasks. Knee-ground contact forces/pressures are also reduced (up to 15%) under robotic assistance during single-leg kneeling. Increasing assistive knee torque shows redistribution of the subject’s weight from the knee in contact with the ground to both supporting feet. The proposed system provides an enabling tool to potentially reduce musculoskeletal injury risks of construction workers

Design and Control of Quasi-direct Drive Actuation for Lightweight and Versatile Wearable Robots

Wearable robots have shown great potential for augmenting the physical capabilities of humans in lab settings. However, wearable robots for augmenting the physical capabilities of humans under community-based conditions are the new frontier of robotics. Furthermore, the design and control are still considered to be grand challenges for providing physical augmentation for humans. In terms of design, the state-of-the-art exoskeletons are typically rigid, bulky, and limited to lab settings. In terms of control, most of the rhythmic controllers are not versatile and are focused only on steady-state walking assistance. The motivation behind my research is to improve both the design and control performance to develop lightweight, compliant, and versatile wearable robots. Our design and control enable a paradigm shift from lab-based to community-based wearable robots. We envision that our work will enable a paradigm shift of wearable robots from lab-bounded rehabilitation machines to ubiquitous personal robots that can reduce mechanical loading for both the able-bodied wearers and disabilities, such as help with workplace injury prevention, pediatric and elderly rehabilitation, home care, and power augmentation. My research focuses on 1) Developing an innovative actuation paradigm to design compliant AND high bandwidth lightweight exoskeleton 2) Analyzing compliance and control bandwidth performance of quasi-direct drive actuation using a unified human-robot interaction model 3) Developing walking and squatting controllers for non-rhythmic versatile assistance My research pioneered the quasi-direct drive actuator paradigm for wearable robots by designing the first lightweight and compliant quasi-direct drive exoskeleton. The dissertation details the development of high-performance wearable robots, including actuation systems, modeling, and non-gait-cycle-based robust controllers for walking and squatting assistance. The working principle, design, and evaluation of several exoskeletons are presented; from tethered to portable, cable-driven actuation to quasi-direct drive actuation. In addition, a unified human-robot interaction model is presented that compares three actuation paradigms (i.e., conventional, series elastic, and quasi-direct drive actuator) with comprehensive benchmark results in terms of compliance and control bandwidth. Finally, two non-rhythmic non-gait-cycle-based torque controllers leveraging only kinematic data are developed and evaluated on a knee exoskeleton. One is a stiffness model-based controller for walking, and another is a biomechanics model-based controller for squatting. Rigorous human subject experiments were conducted to evaluate the efficacy of the designed exoskeleton and the novel controllers. The experimental results show that our designed lightweight and compliant knee exoskeleton can reduce 7.45 - 15.22% extensor muscles’ activation under walking assistance and reduce 70% - 87.5% extensor muscles’ activation under squatting assistance. The metabolic rate during squatting was reduced by 9% compared to squatting without an exoskeleton. This reduction in metabolic rate is comparable to the effects of removing 7.2 kg weight from an 80 kg subject. It shows that the proposed exoskeleton design and control improvement can significantly augment the physical capabilities of humans during both walking and squatting, which is a big step toward wearable robots providing superhuman augmentation

Soy Isoflavone Protects Myocardial Ischemia/Reperfusion Injury through Increasing Endothelial Nitric Oxide Synthase and Decreasing Oxidative Stress in Ovariectomized Rats

There is a special role for estrogens in preventing and curing cardiovascular disease in women. Soy isoflavone (SI), a soy-derived phytoestrogen, has similar chemical structure to endogenous estrogen-estradiol. We investigate to elucidate the protective mechanism of SI on myocardial ischemia/reperfusion (MI/R) injury. Female SD rats underwent bilateral ovariectomy. One week later, rats were randomly divided into several groups, sham ovariectomy (control group), ovariectomy with MI/R, or ovariectomy with sham MI/R. Other ovariectomy rats were given different doses of SI or 17β-estradiol (E2). Four weeks later, they were exposed to 30 minutes of left coronary artery occlusion followed by 6 or 24 hours of reperfusion. SI administration significantly reduced myocardial infarct size and improved left ventricle function and restored endothelium-dependent relaxation function of thoracic aortas after MI/R in ovariectomized rats. SI also decreased serum creatine kinase and lactate dehydrogenase activity, reduced plasma malonaldehyde, and attenuated oxidative stress in the myocardium. Meanwhile, SI increased phosphatidylinositol 3 kinase (PI3K)/Akt/endothelial nitric oxide synthase (eNOS) signal pathway. SI failed to decrease infarct size of hearts with I/R in ovariectomized rats if PI3K was inhibited. Overall, these results indicated that SI protects myocardial ischemia/reperfusion injury in ovariectomized rats through increasing PI3K/Akt/eNOS signal pathway and decreasing oxidative stress

Nicotinamide Riboside Regulates Chemotaxis to Decrease Inflammation and Ameliorate Functional Recovery Following Spinal Cord Injury in Mice

Changes in intracellular nicotinamide adenine dinucleotide (NAD+) levels have been observed in various disease states. A decrease in NAD+ levels has been noted following spinal cord injury (SCI). Nicotinamide riboside (NR) serves as the precursor of NAD+. Previous research has demonstrated the anti-inflammatory and apoptosis-reducing effects of NR supplements. However, it remains unclear whether NR exerts a similar role in mice after SCI. The objective of this study was to investigate the impact of NR on these changes in a mouse model of SCI. Four groups were considered: (1) non-SCI without NR (Sham), (2) non-SCI with NR (Sham +NR), (3) SCI without NR (SCI), and (4) SCI with NR (SCI + NR). Female C57BL/6J mice aged 6–8 weeks were intraperitoneally administered with 500 mg/kg/day NR for a duration of one week. The supplementation of NR resulted in a significant elevation of NAD+ levels in the spinal cord tissue of mice after SCI. In comparison to the SCI group, NR supplementation exhibited regulatory effects on the chemotaxis/recruitment of leukocytes, leading to reduced levels of inflammatory factors such as IL-1β, TNF-α, and IL-22 in the injured area. Moreover, NR supplementation notably enhanced the survival of neurons and synapses within the injured area, ultimately resulting in improved motor functions after SCI. Therefore, our research findings demonstrated that NR supplementation had inhibitory effects on leukocyte chemotaxis, anti-inflammatory effects, and could significantly improve the immune micro-environment after SCI, thereby promoting neuronal survival and ultimately enhancing the recovery of motor functions after SCI. NR supplementation showed promise as a potential clinical treatment strategy for SCI