Human Joint Torque Modelling With MMG and EMG During Lower Limb Human-Exoskeleton Interaction

Control of lower limb exoskeleton with simulated EMG signal

The Passive Series Stiffness That Optimizes Torque Tracking for a Lower-Limb Exoskeleton in Human Walking

This study uses theory and experiments to investigate the relationship between the passive stiffness of series elastic actuators and torque tracking performance in lower-limb exoskeletons during human walking. Through theoretical analysis with our simplified system model, we found that the optimal passive stiffness matches the slope of the desired torque-angle relationship. We also conjectured ...

Torque Analysis of the Lower Limb Exoskeleton Robot Design

Exoskeleton is a type of wearable robots that can augment the performance of an able-bodied user. There are many studies that use hydraulic actuator to actuate the lower limb exoskeleton which possesses several drawbacks like dirty, noisy and high power consumption. Therefore, electrical actuators that are clean, silent and less power consuming are used in designing the lower limb exoskeleton i...

Analysis of the human interaction with a wearable lower-limb exoskeleton

The design of a wearable robotic exoskeleton needs to consider the interaction, either physical or cognitive, between the human user and the robotic device. This paper presents a method to analyse the interaction between the human user and a unilateral, wearable lower-limb exoskeleton. The lower-limb exoskeleton function was to compénsate for muscle weakness around the kneejoint. It isshown tha...

Lower-Limb Wearable Exoskeleton

There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...