ABSTRACT Conventional unpowered lower limb exoskeleton paid little attention to the metabolic cost of body during sit down (SD)/stand up (SU). The SD motion model and characteristics extremity are analyzed; then, a novel is proposed, contribution degree muscles stiffness joints used for determining location energy storage element. relevant in left leg obtained based on Opensim software. results...

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control schem...

Inspired by the difficulties behind specification requirements as well realizing applicable capacity of upper exoskeleton robots, this paper presents design and development an original prototype Rehabilitation Assistance UPper EXoskeleton (RAUPEX). The is designed through analysis human's limb biomechanics dynamics. Based on human joint power, solutions mechanism actuator for are drawn. During ...

Abstract . Exoskeleton robots are developing rapidly in the field of industrial manufacturing and medical rehabilitation as an intelligent wearable power assist device, which can reduce lifting burden muscle fatigue. Existing upper limb passive exoskeleton still need to be improved for human-machine integration. In this paper, by establishing a human kinematic model lumbar spine motion model, i...

In Robot-Assisted Rehabilitation (RAR) the accurate estimation of the patient limb joint angles is critical for assessing therapy efficacy. In RAR, the use of classic motion capture systems (MOCAPs) (e.g., optical and electromagnetic) to estimate the Glenohumeral (GH) joint angles is hindered by the exoskeleton body, which causes occlusions and magnetic disturbances. Moreover, the exoskeleton p...

in this prospective descriptive study, all patients with acute lower limb ischemia who presented to shohada tajrish hospital (sth) between july 200 1 and july 2003 were analyzed and followed for 6 months. the total population of 109 patients, with no significant difference in sexual distribution had a mean age of 64± 16 years. 23% had af and 31 % had a history of mi, 'but in the ecg of 30%...