We developed a prototype of an exoskeletal patient simulator that allows clinical trainees to experience and learn about ankle disorders related to hemiplegia. The exoskeleton exerts abnormal joint torques by tendon mechanisms while realizing complex ankle movements and realistic bone and skin features. Using this exoskeleton, we simulated the resistances of spasticity and clonus, which are typ...

It has been thought that phosphorus in biominerals made of amorphous calcium carbonate (ACC) might be related to ACC formation, but no such phosphorus-containing compounds have ever been identified. Crustaceans use ACC biominerals in exoskeleton and gastroliths so that they will have easy access to calcium carbonate inside the body before and after molting. We have identified phosphoenolpyruvat...

This paper describes a brain-machine interface for the online control of a powered lower-limb exoskeleton based on electroencephalogram (EEG) signals recorded over the user’s sensorimotor cortical areas. We train a binary decoder that can distinguish two different mental states, which is applied in a cascaded manner to efficiently control the exoskeleton in three different directions: walk fron...

The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of ...

Exoskeletons can be utilized for rehabilitation purposes as well as for assistance and augmentation of motion of patients with disabilities, workers, the elderly and even healthy people. Compared to powered solutions, unpowered passive exoskeletons have been shown to have significantly higher chances of end user acceptance, because of simpler design, no complex electronics and potentially lower...

This article introduces a human–robot interaction controller toward the lower extremity exoskeleton whose aim is to improve the tracking performance and drive the exoskeleton to shadow the wearer with less interaction force. To acquire the motion intention of the wearer, two subsystems are designed: the first is to infer the wearer is in which phase based on floor reaction force detected by a m...

We propose a new approach called as a peak time approach for faster detection of step initiation for the lower limb exoskeleton. As faster detection of step initiation is an important criterion in evaluating the lower limb exoskeleton, many studies have investigated approaches to detect step initiation faster, including using electromyography, the center of pressure, the heel-off time and the t...

BACKGROUND Powered exoskeletons are designed to safely facilitate ambulation in patients with spinal cord injury (SCI). We conducted the first meta-analysis of the available published research on the clinical effectiveness and safety of powered exoskeletons in SCI patients. METHODS MEDLINE and EMBASE databases were searched for studies of powered exoskeleton-assisted walking in patients with ...

In order to determine the potential utility of trace elemental natural tags to resolve fine-scale stock structure and residency patterns in adult crustaceans, we investigated whether concentrations of trace elements in exoskeleton could be used to resolve capture sites of red rock lobsters Jasus edwardsii. Using inductively coupled plasma mass spectrometry, we measured ratios of Li, Mg, Mn, Ba ...

Lower-limb exoskeletons have the potential to enhance rehabilitation [1], assist in walking with gait impairments [2], reduce the metabolic cost of normal [3] and load-bearing walking [4], improve stability [5] and probe interesting questions about human locomotion [6]. The ankle produces larger peak torques and performs more positive work than either the hip or the knee during locomotion [7], ...