The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Total Knee/Hip Replacement(TKR/THR) is one of the most important orthopedic surgical techniques of this century. If patient's whole joint is damaged, an artificial joint (total hip/knee replacement surgery) can relieve patient's pain and help the patient get back normal activities. The goal for TKR/THR is to relieve the pain in the joint caused by the damage done to the cartilage. The surgeon will...
The aim of our study is to construct a Humanoid with enhanced bipedal walk, which can be utilized in the Medical Sector, as an effective substitute for Artificial Limbs. With reference to the human body, we have designed a humanoid such that the joints are exposed to zero friction, and the efficiency of the motor is increased. The natural phenomenon in the human to adjust the center of gravity and...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
Passive rehabilitation robots are the auxiliary equipment which used to help patients recovering from diseases. In this paper, we addressed a lower limb 4-degree of freedom (4-DOF) model, proposed a lower limb rehabilitation mechanism. Based on MATLAB/Simulink software, analyze the displacement, speed and acceleration of fulcrums are analyzed. Experiment results verified that the simulation results...
In this study, basic research to obtain biomechanical parameters for optimized design of wearable walking assistant robot was presented and discussed in the condition of its application to the dynamic analysis of gait. Numerous studies are being conducted in order to develop intelligent walking assist devices. However, the reliability, effectiveness and durability of such intelligent walking assist...
Our goal is to try to enhance the QoL of persons with hemiplegia by the mean of an active motion support system based on the HAL's technology. The HAL (Hybrid Assistive Limb) in its standard version is an exoskeleton-based robot suit to support and enhance the human motor functions. The purpose of the research presented in this paper is the development of a new version of the HAL to be used as an...
A new set of lower limb orthoses was developed for the WalkTrainer project. This mobile reeducation device for paralyzed people allows overground gait training combining closed loop electrical muscle stimulation and lower limb guiding while walking. An active body weight support system offers precise body weight unloading during locomotion. A 6 DOF parallel robot moves the pelvis in any desired position...
Research in robot-assisted gait rehabilitation has seen significant improvements in human-robot interaction, thanks to high performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight, intrinsically compliant, high power actuators (pleated pneumatic artificial muscles, PPAMs) with safe and adaptable guidance along a trajectory by means...
This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using...
Lesions of the central nervous system often lead to walking impairments. Primary rehabilitation aims at the improvement of the gait capacity by application of task oriented training regimes utilizing the inherent capability of neural networks for reorganization. However, a sufficient training intensity for enhancement of this neuroplasticity can only be achieved during the inpatient phase, which -...
Exoskeletons are attracting a great attention as a new means of rehabilitation devices. In such applications, control algorithms of exoskeletons are often inspired by nature for natural and effective assistance for patients. In this paper, a control algorithm is inspired by aquatic therapy. Aquatic therapy has various benefits for rehabilitation processes based on useful properties of water, e.g....
Realizing an ideal impedance control system in lower extremity rehabilitation systems is challenged by mechanical impedance of robot hardware. Although some studies in the field of control systems have been helpful in reducing the mechanical impedance of actuators, they have not been able to remove the inertia of robot hardware. This paper introduces an alternative design in which mechanical links...
Power-Assist for lower-limb is expected by many physically weak persons to assist their daily activities. It is important for the power-assist robots that the assist motion is generated based on users motion intention. This paper presents a muscle-model-oriented EMG-based (electromyogram-based) control method to activate a lower-limb power-assist robot according to the users motion intention since...
Herein, this study proposes that the exoskeleton has not full of active DOF (degree of freedom) joint, but partial active DOF joint which is so called the quasi-active joint system. It consists of 4 quasi-active joints and 2 active joints 3 passive joint and 1 active joint. So as to verify the efficiency of the quasi-active exoskeleton, muscle activation results are compared by before and after the...
We present a new quadruped robot, ldquoCheetahrdquo, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.