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Article
Publication date: 2 April 2019

Longhan Xie and Ledeng Huang

The purpose of this paper is to design a lower limb exoskeleton to enhance hemiplegic patient’s muscle strength and help the affected side return to normal gait after a long…

478

Abstract

Purpose

The purpose of this paper is to design a lower limb exoskeleton to enhance hemiplegic patient’s muscle strength and help the affected side return to normal gait after a long period of training.

Design/methodology/approach

A wire rope-driven exoskeleton that combines rigid bracket and flexible driven method was presented to assist the patients with rehabilitative walking training. By using three noncontact cameras, the patient’s gait was captured and the target trajectory of the affected side was analyzed. Meanwhile, a controlling strategy of the affected side, which mimics the gait of the healthy side, was developed to help hemiplegic patients with varying degrees of hemiplegic gait obtain personalized walking rehabilitation training.

Findings

The results show that the hemiplegic gait of hip excessive abduction and strephenopodia was prevented. After wearing the exoskeleton, the movement trajectories of both sides of the lower limb were approximately identical. Based on the controlling strategy, the exoskeleton can correct the impaired gait and provide assistance for patients during walking. The exoskeleton has great benefits in walking rehabilitation training for hemiplegic patients.

Originality/value

This work improves the efficiency of the patient’s individualized training in the room. The presented exoskeleton provides great benefits in walking rehabilitation training for hemiplegic patients.

Details

Assembly Automation, vol. 40 no. 1
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 18 September 2023

Yali Han, Shunyu Liu, Jiachen Chang, Han Sun, Shenyan Li, Haitao Gao and Zhuangzhuang Jin

This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

Abstract

Purpose

This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

Design/methodology/approach

In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar force, and a fuzzy recognition algorithm using plantar pressure is proposed. Dynamic model of the exoskeleton is established, and the sliding mode control is developed to implement the position tracking of exoskeleton. A series of prototype experiments including benchtop test, full assistance, partial assistance and loaded walking experiments are set up to verify the tracking performance and power-assisted effect of the proposed exoskeleton.

Findings

The control performance of PID control and sliding mode control are compared. The experimental data shows the tracking trajectories and tracking errors of sliding mode control and demonstrate its good robustness to nonlinearities. sEMG of the gastrocnemius muscle tends to be significantly weakened during assisted walking.

Originality/value

In this paper, a structure that the knee joint and hip joint driven by the valve-controlled asymmetrical cylinder is used to provide walking assistance for the wearer. The sliding mode control is proposed to deal with the nonlinearities during joint rotation and fluids. It shows great robustness and frequency adaptability through experiments under different motion frequencies and assistance modes. The design and control method of exoskeleton is a good attempt, which takes positive impacts on the productivity or quality of the life of wearers.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 August 2017

Du-Xin Liu, Xinyu Wu, Wenbin Du, Can Wang, Chunjie Chen and Tiantian Xu

The purpose of this paper is to model and predict suitable gait trajectories of lower-limb exoskeleton for wearer during rehabilitation walking. Lower-limb exoskeleton is widely…

Abstract

Purpose

The purpose of this paper is to model and predict suitable gait trajectories of lower-limb exoskeleton for wearer during rehabilitation walking. Lower-limb exoskeleton is widely used for assisting walk in rehabilitation field. One key problem for exoskeleton control is to model and predict suitable gait trajectories for wearer.

Design/methodology/approach

In this paper, the authors propose a Deep Spatial-Temporal Model (DSTM) for generating knee joint trajectory of lower-limb exoskeleton, which first leverages Long-Short Term Memory framework to learn the inherent spatial-temporal correlations of gait features.

Findings

With DSTM, the pathological knee joint trajectories can be predicted based on subject’s other joints. The energy expenditure is adopted for verifying the effectiveness of new recovery gait pattern by monitoring dynamic heart rate. The experimental results demonstrate that the subjects have less energy expenditure in new recovery gait pattern than in others’ normal gait patterns, which also means the new recovery gait is more suitable for subject.

Originality/value

Long-Short Term Memory framework is first used for modeling rehabilitation gait, and the deep spatial–temporal relationships between joints of gait data can obtained successfully.

Details

Assembly Automation, vol. 37 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 24 June 2021

Jiaqi Zhang, Ming Cong, Dong Liu, Yu Du and Hongjiang Ma

The purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the…

Abstract

Purpose

The purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the problem that biped robot stability criterion cannot be fully applied to the underactuated lower limb exoskeletons.

Design/methodology/approach

The method used in this paper is to construct an underactuated lower extremity exoskeleton ankle joint with a torsion spring. Based on the constructed exoskeleton, the linear inverted torsion spring pendulum model is proposed, and the traditional capture point (CP) concept is optimized.

Findings

The underactuated exoskeleton ankle joint with torsion springs, combined with the improved CP concept, can effectively reduce the forward stepping distance under the same interference condition, which is equivalent to enhancing the balance ability of the lower extremity exoskeleton.

Originality/value

The contribution of this paper is to enhance the balance ability of the exoskeleton of the lower limbs under large interference conditions. The torsion spring is used as the exoskeleton ankle joint, and the traditional CP concept is optimized according to the constructed exoskeleton.

Details

Assembly Automation, vol. 41 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 19 December 2022

Meby Mathew, Mervin Joe Thomas, M.G. Navaneeth, Shifa Sulaiman, A.N. Amudhan and A.P. Sudheer

The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this…

Abstract

Purpose

The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research.

Design/methodology/approach

Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143.

Findings

Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially.

Research limitations/implications

Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the subject.

Originality/value

The paper describes the recent methods for signal sensing, actuation, control and rehabilitation training approaches used in developing exoskeletons. All these areas are key elements in an exoskeleton where the review papers are published very limitedly. Therefore, this paper will stand as a guide for the researchers working in this domain.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 May 2019

Payman Joudzadeh, Alireza Hadi, Bahram Tarvirdizadeh, Danial Borooghani and Khalil Alipour

This paper aims to deal with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.

Abstract

Purpose

This paper aims to deal with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.

Design/methodology/approach

For this purpose, a novel design of a mixture of motors and cables has been proposed for users to wear them easily and show the application of the system in stair climbing.

Findings

One of the prominences of this study is the provided robot design where four joints are actuated with only two motors; each motor actuates either the knees or ankles. Another advantage of the designed system is that with motors placed in a backpack, the knee braces can be worn under clothes to be concealed. Finally, the system performance is evaluated using electromyography (EMG) signals showing 28 per cent reduction in energy consumption of related muscles.

Originality/value

This investigation deals with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 May 2017

Jian Li, Diansheng Chen, Chunjing Tao and Hui Li

Many studies have shown that rehabilitation robots are crucial for lower limb dysfunction, but application of many robotics have yet to be seen to actual use in China. This study…

439

Abstract

Purpose

Many studies have shown that rehabilitation robots are crucial for lower limb dysfunction, but application of many robotics have yet to be seen to actual use in China. This study aimed to improve a lower limb rehabilitation robot by details improving and practical design.

Design/methodology/approach

Structures and control system of a lower limb rehabilitation robot are improved in detail, including joint calculations, comfort analysis and feedback logic creation, and prototype experiments on healthy individuals and patients are conducted in a hospital.

Findings

All participating subjects did not experience any problems. The experiment shows detail improving is reasonable, and feasibility of the robot was confirmed, which has potential for overcoming difficulties and problems in practical application.

Research limitations/implications

Therapeutic effects need to be evaluated in the future. Also, more details should be improved continuously based on the actual demand.

Originality/value

The improved robot could assist the lower limb during standing or walking, which has significance for practical application and patients in China.

Details

Industrial Robot: An International Journal, vol. 44 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 May 2019

Hansong Wang, Canjun Yang, Wei Yang, Meiying Deng, Zhangyi Ma and Qianxiao Wei

Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the…

Abstract

Purpose

Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the transfer of gravity center to improve the balance of exoskeleton rehabilitation training of the hemiplegic patients in the frontal plane, reducing the dependence on crutches/walking frames.

Design/methodology/approach

The real-time and predictable instability factors of human and exoskeleton system (HES) are analyzed. Inspired by the walking balance strategy of the blind, a rehabilitation gait based on the transfer of gravity center is proposed and studied by modeling and experimental test and is finally applied to the prototype – Zhejiang University lower extremity exoskeleton (ZJULEEX) – to verify its feasibility.

Findings

At least three real-time and predictable factors cause the instability of HES, and the factor of lateral tilt caused by gravity should be focused in the balance control of frontal plane. With the proposed gait, the hip height of stepping leg of HES does not reduce obviously even when the crutches do not work, which can improve the balance of HES.

Research limitations/implications

However, the rehabilitation gait control needs to be more complete and intelligent to response to other types of perturbations to further improve the balance of HES. In addition, more clinical trials should be conducted to evaluate the effect of the proposed gait.

Social implications

May bring happiness to the rehabilitation of patients with hemiplegia.

Originality/value

The rehabilitation gait based on the transfer of gravity center to improve the balance of HES is first proposed and applied to HES.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 June 2019

Qiming Chen, Hong Cheng, Rui Huang, Jing Qiu and Xinhua Chen

Lower-limb exoskeleton systems enable people with spinal cord injury to regain some degree of locomotion ability, as the expected motion curve needs to adapt with changing…

Abstract

Purpose

Lower-limb exoskeleton systems enable people with spinal cord injury to regain some degree of locomotion ability, as the expected motion curve needs to adapt with changing scenarios, i.e. stair heights, distance to the stairs. The authors’ approach enables exoskeleton systems to adapt to different scenarios in stair ascent task safely.

Design/methodology/approach

In this paper, the authors learn the locomotion from predefined trajectories and walk upstairs by re-planning the trajectories according to external forces posed on exoskeleton systems. Moreover, instead of using complex sensors as inputs for re-planning in real-time, the approach can obtain forces acting on exoskeleton through dynamic model of human-exoskeleton system learned by an online machine learning approach without accurate parameters.

Findings

The proposed approach is validated in both simulation environment and a real walking assistance exoskeleton system. Experimental results prove that the proposed approach achieves better performance than the traditional predefined gait approach.

Originality/value

First, the approach obtain the external forces by a learned dynamic model of human-exoskeleton system, which reduces the cost of exoskeletons and avoids the heavy task of translating sensor input into actuator output. Second, the approach enables exoskeleton accomplish stair ascent task safely in different scenarios.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 29 October 2021

Abhilash C.R., Sriraksha Murali, M. Abdul Haq, Tanay N. Bysani and N.S. Narahari

In certain industrial operations, workers are required to stand for a prolonged duration. This leads to muscular fatigue in the legs, posing a threat to the productivity and…

Abstract

Purpose

In certain industrial operations, workers are required to stand for a prolonged duration. This leads to muscular fatigue in the legs, posing a threat to the productivity and well-being of the workers. This paper aims to address this problem of women in the clothing industry with an exoskeleton designed for lower extremities and improve productivity.

Design/methodology/approach

Ulrich’s product design approach has been followed with suitable modifications. The methodology involves a study to justify the need for this product and terminating at the physical and virtual evaluations of the product. Required anthropometric parameters are considered along the design process.

Findings

The exoskeleton discussed in this paper is an innovative product made of Aluminium 6061 alloy. During the simulation phase of the product, total von-mises stresses to a part bearing 1 leg were 31.5 MPa, 94.7 MPa and 284 MPa for aluminium, SS308 and springs, respectively. These values are below the yield limit by a great margin. Based on a user survey of this product, 72% of the targeted customers were interested in buying. Also, comparing electromyography (EMG) mean value of the voltage between workers’ leg with and without exoskeleton revealed that there was an improvement in the voltage by 2.5% when exoskeleton was used.

Originality/value

This paper emphasizes, for the first time – the necessity of an exoskeleton indigenized for the Indian population and the process of realizing it by designing an exoskeleton.

Details

Journal of Engineering, Design and Technology , vol. 21 no. 5
Type: Research Article
ISSN: 1726-0531

Keywords

1 – 10 of 174