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Dexterous distal arm functions are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost manipulation capabilities. In this paper, a modular approach has been proposed to design a wrist-hand manipulator to be employed in the rehabilitation training of the upper limb dexterous function....
A robotic exoskeleton system of lower extremity controlled by central pattern generators (CPGs) was developed for physical rehabilitation of paraplegic patients. The exoskeleton system has two degrees of freedom for each limb to assist motion of hip and knee joints with help of a body weight support device. Mechanical design of the exoskeleton considering ergonomics adopted some regulation mechanisms...
This paper addresses the design of instrumented single joint and multi-joints active orthoses for musculoskeletal and neuromuscular disorder exploration and functional rehabilitation. The use of these multi-contact exoskeletons, operating a selective limb joint mobilization, allows the measurement and the control of physiological parameters (instantaneous helical axis (IHA) motion, joint motion and...
Because of the limited space and enormous forces in the human foot, researchers generally simplified the foot as a rigid body in the development of lower extremity exoskeletons and biped humanoid robots, which led to unsatisfying performance on flexibility and auto-stability. In this paper, we propose a novel parallel mechanism with seven degrees of freedom (DOF) to realize the main possible movements...
Impedance control has been widely developed in the robotic exoskeleton field for human performance assistance and enhancement. However, the determination of desired impedance parameters that dominates the characteristics of interaction force and motion control is not straightforward since these parameters depend not only on the physical properties of the wearer but also on the speed region during...
The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant...
Lower extremity exoskeletons are intelligent wearable robots that integrate human intelligence with the strength of humanoid robots. Recently, lower extremity exoskeletons have been developed for rehabilitation and assistance of paralysis patients. This paper presents design of a novel anthropomorphic lower extremity exoskeleton with compatible hip joints and knee joints that help paralysis patients...
Exoskeleton of lower extremity, as a kind of wearable robot, can help people who have walking problems and offer rehabilitation training. In this work, through the analysis of human walking, the mechanical structure of an exoskeleton system was studied. By judging the user's intended movement with the measured pressure of the feet, the exoskeleton system works to assist the user. Then, surface EMG...
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