نتایج جستجو برای: exoskeleton backdrivability
تعداد نتایج: 2470 فیلتر نتایج به سال:
Assisting human locomotion with ankle exoskeletons is a complicated task, requiring consideration of both biological and device contributions to assisted joint mechanics. Assistance techniques have typically involved some combination of work input and torque support. The complex interaction that arises between the exoskeleton and human neuromuscular system, however, makes it difficult to unders...
We present experimental data for an ankle exoskeleton device that provides a metabolic benefit during running. Intuitively, there is an optimal level of power than any particular human can accept and use to benefit walking or running, which is a function of both the particular human and selected gait speed. In this paper, we will present theoretical modeling results to explain recent data for t...
* Corresponding author, Phone: (716) 645-1430, Fax: (716) 645-3668. ABSTRACT Exoskeletons are a new class of articulated mechanical systems whose performance is realized while in intimate contact with the human user. The overall performance depends on many factors including selection of architecture, device, parameters and the nature of the coupling to the human, offering numerous challenges to...
1696 M ost people are aware that insects are crunchy on the outside. What they don't always realize is that the external crunchy parts form the animal's skeleton, and that this body design makes the apparently simple process of growing extremely complex. In addition to providing a barrier against desiccation and protection from mechanical injury, an insect's external skeleton (exoskeleton) does...
Exoskeletons are utilized extensively in robotic rehabilitation and power augmentation purposes. One of the most recognised control algorithms utilized in this field is the impedance controller. Impedance control approach provides the capability of realizing different rehabilitation exercises by tuning the target impedance gains. Trial and error experimental approach is one of the most common m...
A total of 394 (255 males,139 females) live freshwater crayfish Astacus leptodactylus from four stations of Aras reservoir in West Azarbaijan Province (North-Western Iran) were studied during the winter until early autumn of 2009 for the presence of parasites, Epibionts and Fungal agents. Parasitological surveys were carried out on gills exoskeleton and internal organs, mycological examinations...
Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with...
Objective. Results of a device-training for nonambulatory individuals with thoracic and lumbar spinal cord injury (SCI) using a powered exoskeleton for technically assisted mobility with regard to the achieved level of control of the system after training, user satisfaction, and effects on quality of life (QoL). Methods. Observational single centre study with a 4-week to 5-week intensive inpati...
Neuroprosthetic technology and robotic exoskeletons are being developed to facilitate stepping, reduce muscle efforts, and promote motor recovery. Nevertheless, the guidance forces of an exoskeleton may influence the sensory inputs, sensorimotor interactions and resulting muscle activity patterns during stepping. The aim of this study was to report the muscle activation patterns in a sample of ...
Limited research has been done on exoskeletons to enable faster movements of the lower extremities. An exoskeleton’s mechanism can actually hinder agility by adding weight, inertia and friction to the legs; compensating inertia through control is particularly difficult due to instability issues. The added inertia will reduce the natural frequency of the legs, probably leading to lower step freq...
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