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 ...

The hybrid assistive limb (HAL) exoskeleton provides rehabilitation of the motor skills of chronic spinal chord injury (SCI) patients as well as alleviation of chronic neuropathic pain (CNP). The HAL device uses bioelectric signals to activate robotic support of voluntary movement during bodyweight supported treadmill training (BWSTT).

Research into rehabilitation robotics has grown rapidly and the number of therapeutic rehabilitation robots has expanded dramatically during the last two decades. Robotic rehabilitation therapy can deliver high-dosage and high-intensity training, making it useful for patients with motor disorders caused by stroke or spinal cord disease. Robotic devices used for motor rehabilitation include end-...

The creation of a human dynamical model useful in upper-limb exoskeleton control remains an open problem. We present a framework that approaches model generation from a “sensor-driven” design perspective that explicitly avoids overfitting parameters and minimally relies on literature values and biological assumptions. Initial results on synthetic data for a simplified model of the elbow indicat...

This paper proposed a bilateral upper-limb rehabilitation device (BULReD) with two degrees of freedom (DOFs). The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as ...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

We propose a novel class of unsupervised learning-based algorithms that extend the conditional restricted Boltzmann machine to predict, in real-time, a lower limb exoskeleton wearer’s intended movement type and future trajectory. During training, our algorithm automatically clusters unlabeled exoskeletal measurement data into movement types. Our predictor then takes as input a short time series...

Theoretical control algorithms are developed and an experimental system is described for 6-dof kinesthetic force/moment feedback to a human operator from a remote system. The remote system is a common six-axis slave manipulator with a force/torque sensor, while the haptic interface is a unique, cable-driven, seven-axis, force/moment-reflecting exoskeleton. The exoskeleton is used for input when...

Although previous studies have shown that powered exoskeletons reduce muscle activation while walking across participants, less is known about how they impact an individual’s activation. This study examined activity during with a ankle exoskeleton. The designed human-exoskeleton coordination was defined as decrease in medial gastrocnemius (MGAS) the exoskeleton and increase unpowered. 60% of pa...