Lower-limb exoskeletons

Gait parameter adaptation for lower-limb exoskeletons

The field of exoskeletons and assistive orthotic devices is a multidisciplinary issue in the halfway between medicine and robotics. Within the robotic discipline, bipedal robot gaits are generated as a function of parameters such as stride length, foot clearance and body height. These features allow to adapt the gait to different surface characteristics. However, biped robot gaits do not look a...

Monitoring Activities with Lower-Limb Exoskeletons

Passive exoskeletons for assisting limb movement.

This article presents the state of the art in passive devices for enhancing limb movement in people with neuromuscular disabilities. Both upper- and lower-limb projects and devices are described. Special emphasis is placed on a passive functional upper-limb orthosis called the Wilmington Robotic Exoskeleton (WREX). The development and testing of the WREX with children with limited arm strength ...

Upper-Limb Exoskeletons for Physically Weak Persons

Supporting Materials: Performance of prominent torque control methods for tethered lower-limb exoskeletons during human walking

Experiments were conducted over the course of 3 days, with all data for each high-level assistance controller collected on the same day. Low-level torque controllers were collected in the same order for each high-level controller, except for a change in the order of the PAS controller for the Time-based desired torque (which was accidentally skipped, then caught at the end of the collection). T...