Showing papers on "Exoskeleton Device published in 2006"
01 Jan 2006
TL;DR: The results suggest that an elastic exoskeleton could be effective at reducing the metabolic cost of locomotion and an elastic knee brace developed that adds a stiff spring in parallel to the knee is the first phase of an ongoing research project to develop a passive compliant lower-bodyExoskeleton to assist in human running.
Abstract: When humans hop or run on compliant surfaces they alter the stiffness of their legs so that the overall stiffness of the leg-surface system remains the same. Adding a spring in parallel to the ankle joint incites a similar neuromuscular response; humans decrease their biological ankle stiffness such that the overall ankle stiffness remains unchanged. These results suggest that an elastic exoskeleton could be effective at reducing the metabolic cost of locomotion. To further increase our understanding of human response we have developed an elastic knee brace that adds a stiff spring in parallel to the knee. It will be used as a test platform in ascertaining the neuromuscular effects of adding a parallel knee spring while hopping on one leg. This paper focuses primarily on the mechanical design and implementation of our elastic knee orthosis. Results of the forthcoming studies of human subjects wearing this knee orthosis will be presented in a separate article that will focus on the biomechanics and the neuromuscular adaptations of the human body. Prior research found that the neuromuscular response to hopping on compliant surfaces was the same when running on compliant surfaces. We expect that our results from hopping with springs in parallel with the knee will also be applicable to running. This elastic knee brace represents the first phase of an ongoing research project to develop a passive compliant lower-body exoskeleton to assist in human running. It is expected that this research will benefit healthy individuals as well as those with disabilities causing decreased muscle function.Copyright © 2006 by ASME
38 citations
01 Jan 2006
TL;DR: The RiceWrist as discussed by the authors is a four-degree-of-freedom upper extremity rehabilitation robot for stroke therapy, used in conjunction with the Mirror Image Movement Enabler (MIME) system.
Abstract: This paper presents the design and kinematics of a four degree-of-freedom upper extremity rehabilitation robot f or stroke therapy, to be used in conjunction with the Mirror Image Move ment Enabler (MIME) system. TheRiceWrist is intended to provide robotic therapy via force-feedback during range-of-m otion tasks. The exoskeleton device accommodates forearm supina tion and pronation, wrist flexion and extension, and radial a nd ulnar deviation in a compact design with low friction and bac klash. Joint range of motion and torque output of the electric motor driven device is matched to human capabilities. The pa per describes the design of the device, along with three cont rol modes that allow for various methods of interaction between the patient and the robotic device. Passive, triggered, and act iveconstrained modes, such as those developed for MIME, allow f or therapist control of therapy protocols based on patient cap ability and progress. Also presented is the graphical user interfac e for therapist control of the interactions modes of theRiceWrist, basic experimental protocol, and preliminary experimental resu lts.
27 citations
01 Jan 2006
TL;DR: In this paper, the Robotic Exoskeleton with Advanced Cobot Haptics (REACH) is presented, which is the first wearable exoskeleton that integrates cobot haptic technology into a wearable exo-body device.
Abstract: This paper presents a concept for a new type of haptic exoskeleton: REACH, the Robotic Exoskeleton with Advanced Cobot Haptics. This exoskeleton is the first ever concept for integrating cobot technology into a wearable exoskeleton device. This exoskeleton represents a significant improvement in haptic exoskeleton technology by providing high-performance haptic feedback to a user’s whole arm while at the same time guaranteeing the user’s safety. The overall design concept is presented, including the use of a spherical 3RRR parallel mechanism to implement the shoulder joint. The detailed design of the shoulder joint mechanism is then presented. The kinematic parameters of the shoulder joint are selected such that its range of motion matches the motion of a user’s shoulder while also avoiding collisions. In addition, to avoid singularities and maximize dexterity the mechanism design is optimized using the inverse condition number of the Jacobian matrix.Copyright © 2006 by ASME
8 citations