Optimization and design of a cable driven upper arm exoskeleton

This paper presents the design of a wearable upper arm exoskeleton that can be used to assist and train arm movements of stroke survivors or subjects with weak musculature. In the last ten years, a number of upper-arm training devices have emerged. However, due to their size and weight, their use is restricted to clinics and research laboratories. Our proposed wearable exoskeleton builds upon our extensive research experience in wire driven manipulators and design of rehabilitative systems. The exoskeleton consists of three main parts: (i) an inverted U-shaped cuff that rests on the shoulder, (ii) a cuff on the upper arm, and (iii) a cuff on the forearm. Six motors, mounted on the shoulder cuff, drive the cuffs on the upper arm and forearm, using cables. In order to assess the performance of this exoskeleton, prior to use on humans, a laboratory test-bed has been developed where this exoskeleton is mounted on a model skeleton, instrumented with sensors to measure joint angles and transmitted forces to the shoulder. This paper describes design details of the exoskeleton and addresses the key issue of parameter optimization to achieve useful workspace based on kinematic and kinetic models.</jats:p

Enhancing performance during inclined loaded walking with a powered ankle-foot exoskeleton

A simple ankle-foot exoskeleton that assists plantarflexion during push-off can reduce the metabolic power during walking. This suggests that walking performance during a maximal incremental exercise could be improved with an exoskeleton if the exoskeleton is still efficient during maximal exercise intensities. Therefore, we quantified the walking performance during a maximal incremental exercise test with a powered and unpowered exoskeleton: uphill walking with progressively higher weights. Nine female subjects performed two incremental exercise tests with an exoskeleton: 1 day with (powered condition) and another day without (unpowered condition) plantarflexion assistance. Subjects walked on an inclined treadmill (15 %) at 5 km h(-1) and 5 % of body weight was added every 3 min until exhaustion. At volitional termination no significant differences were found between the powered and unpowered condition for blood lactate concentration (respectively, 7.93 +/- A 2.49; 8.14 +/- A 2.24 mmol L-1), heart rate (respectively, 190.00 +/- A 6.50; 191.78 +/- A 6.50 bpm), Borg score (respectively, 18.57 +/- A 0.79; 18.93 +/- A 0.73) and peak (respectively, 40.55 +/- A 2.78; 40.55 +/- A 3.05 ml min(-1) kg(-1)). Thus, subjects were able to reach the same (near) maximal effort in both conditions. However, subjects continued the exercise test longer in the powered condition and carried 7.07 +/- A 3.34 kg more weight because of the assistance of the exoskeleton. Our results show that plantarflexion assistance during push-off can increase walking performance during a maximal exercise test as subjects were able to carry more weight. This emphasizes the importance of acting on the ankle joint in assistive devices and the potential of simple ankle-foot exoskeletons for reducing metabolic power and increasing weight carrying capability, even during maximal intensities

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis

Experience of Robotic Exoskeleton Use at Four Spinal Cord Injury Model Systems Centers

Background and Purpose: Refinement of robotic exoskeletons for overground walking is progressing rapidly. We describe clinicians\u27 experiences, evaluations, and training strategies using robotic exoskeletons in spinal cord injury rehabilitation and wellness settings and describe clinicians\u27 perceptions of exoskeleton benefits and risks and developments that would enhance utility. Methods: We convened focus groups at 4 spinal cord injury model system centers. A court reporter took verbatim notes and provided a transcript. Research staff used a thematic coding approach to summarize discussions. Results: Thirty clinicians participated in focus groups. They reported using exoskeletons primarily in outpatient and wellness settings; 1 center used exoskeletons during inpatient rehabilitation. A typical episode of outpatient exoskeleton therapy comprises 20 to 30 sessions and at least 2 staff members are involved in each session. Treatment focuses on standing, stepping, and gait training; therapists measure progress with standardized assessments. Beyond improved gait, participants attributed physiological, psychological, and social benefits to exoskeleton use. Potential risks included falls, skin irritation, and disappointed expectations. Participants identified enhancements that would be of value including greater durability and adjustability, lighter weight, 1-hand controls, ability to navigate stairs and uneven surfaces, and ability to balance without upper extremity support. Discussion and Conclusions: Each spinal cord injury model system center had shared and distinct practices in terms of how it integrates robotic exoskeletons into physical therapy services. There is currently little evidence to guide integration of exoskeletons into rehabilitation therapy services and a pressing need to generate evidence to guide practice and to inform patients\u27 expectations as more devices enter the market. Background and Purpose: Refinement of robotic exoskeletons for overground walking is progressing rapidly. We describe clinicians\u27 experiences, evaluations, and training strategies using robotic exoskeletons in spinal cord injury rehabilitation and wellness settings and describe clinicians\u27 perceptions of exoskeleton benefits and risks and developments that would enhance utility. Methods: We convened focus groups at 4 spinal cord injury model system centers. A court reporter took verbatim notes and provided a transcript. Research staff used a thematic coding approach to summarize discussions. Results: Thirty clinicians participated in focus groups. They reported using exoskeletons primarily in outpatient and wellness settings; 1 center used exoskeletons during inpatient rehabilitation. A typical episode of outpatient exoskeleton therapy comprises 20 to 30 sessions and at least 2 staff members are involved in each session. Treatment focuses on standing, stepping, and gait training; therapists measure progress with standardized assessments. Beyond improved gait, participants attributed physiological, psychological, and social benefits to exoskeleton use. Potential risks included falls, skin irritation, and disappointed expectations. Participants identified enhancements that would be of value including greater durability and adjustability, lighter weight, 1-hand controls, ability to navigate stairs and uneven surfaces, and ability to balance without upper extremity support. Discussion and Conclusions: Each spinal cord injury model system center had shared and distinct practices in terms of how it integrates robotic exoskeletons into physical therapy services. There is currently little evidence to guide integration of exoskeletons into rehabilitation therapy services and a pressing need to generate evidence to guide practice and to inform patients\u27 expectations as more devices enter the market

Determining Efficacy of a Passive Exoskeleton for Running

A Valparaiso University engineering senior design team is developing a lower-body exoskeleton prototype to increase the user’s running efficiency by 2%. The device is passive, which means that all elements of the system are powered by the user’s motion and impact with the ground. This is done via elastic fabric elements and spring steel actuators that are attached at the user’s hip, knee and ankle. The device’s effectiveness was tested using a VO2-max test in which the single test subject ran on a treadmill at a constant pace with and without the device. The test recorded the amount of oxygen consumed by the user during the trials, which is directly correlated to the calories burned by the user during the trials. As the experiment has a single test subject due to the user-specific dimensions of the prototype, many trials of the VO2 max test were performed in Spring 2020 to yield a larger sample size for analysis. The team used the output data to determine if there is statistically significant evidence that the user running with the device is more efficient than the user running without the device. Analysis was performed using Python and the proprietary software used to record data from VO2-max tests. A repeatable analysis pipeline was created to enable the research team to rapidly determine if changes to the design are beneficial. This pipeline was used to continue the development of the prototype throughout the Spring 2020 semester

Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work

The finding of the highest negative metabolic rate versus mechanical work ratio in the Bilateral Matched Total Work condition means that if a constrained amount of mechanical work is available (e.g. from a battery) it is more advanta- geous to distribute this work evenly over both legs. The EMG reductions in the unassisted leg also suggest that if the goal is to maximize assistance to one (impaired) leg it might still be advantageous to use a bilateral exoskeleton, perhaps with a different actuation pattern for each leg that is specifically optimized such that each exoskeleton side assists specific phases in the impaired leg

Comparative study of spinning field development in two species of araneophagic spiders (Araneae, Mimetidae, Australomimetus)

External studies of spider spinning fields allow us to make inferences about internal silk gland biology, including what happens to silk glands when the spider molts. Such studies often focus on adults, but juveniles can provide additional insight on spinning apparatus development and character polarity. Here we document and describe spinning fields at all stadia in two species of pirate spider (Mimetidae: Australomimetus spinosus, A. djuka). Pirate spiders nest within the ecribellate orb-building spiders (Araneoidea), but are vagrant, araneophagic members that do not build prey-capture webs. Correspondingly, they lack aggregate and flagelliform silk glands (AG, FL), specialized for forming prey-capture lines in araneoid orb webs. However, occasional possible vestiges of an AG or FL spigot, as observed in one juvenile A. spinosus specimen, are consistent with secondary loss of AG and FL. By comparing spigots from one stadium to tartipores from the next stadium, silk glands can be divided into those that are tartipore-accommodated (T-A), and thus functional during proecdysis, and those that are not (non-T-A). Though evidence was more extensive in A. spinosus, it was likely true for both species that the number of non-T-A piriform silk glands (PI) was constant (two pairs) through all stadia, while numbers of T-A PI rose incrementally. The two species differed in that A. spinosus had T-A minor ampullate and aciniform silk glands (MiA, AC) that were absent in A. djuka. First instars of A. djuka, however, appeared to retain vestiges of T-A MiA spigots, consistent with a plesiomorphic state in which T-A MiA (called secondary MiA) are present. T-A AC have not previously been observed in Australomimetus and the arrangement of their spigots on posterior lateral spinnerets was unlike that seen thus far in other mimetid genera. Though new AC and T-A PI apparently form throughout much of a spider’s ontogeny, recurring spigot/tartipore arrangements indicated that AC and PI, after functioning during one stadium, were used again in each subsequent stadium (if non-T-A) or in alternate subsequent stadia (if T-A). In A. spinosus, sexual and geographic dimorphisms involving AC were noted. Cylindrical silk gland (CY) spigots were observed in mid-to-late juvenile, as well as adult, females of both species. Their use in juveniles, however, should not be assumed and only adult CY spigots had wide openings typical of mimetids. Neither species exhibited two pairs of modified PI spigots present in some adult male mimetids