A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variabledamper. Without a payload, the exoskeleton weighs 11.7 kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive exoskeleton transfers on average 80% of...

Although autonomous robotic systems perform remarkably in structured environments (e.g., factories), integrated human–robotic systems are superior to any autonomous robotic systems in unstructured environments that demand significant adaptation. The technology associated with exoskeleton systems and human power augmentation can be divided into lower-extremity exoskeletons and upper-extremity ex...

Exoskeleton robots are mechanical constructions attached to human body parts, containing actuators for influencing human motion. One important application area for exoskeletons is human motion support, for example, for disabled people, including rehabilitation training, and for force enhancement in healthy subjects. This paper surveys two exoskeleton systems developed in our laboratory. The fir...

The exoskeleton is an important source of characters for the taxonomy of Hydroidolina. It originates as epidermal secretions and, among other functions, protects the coenosarc of the polypoid stage. However, comparative studies on the exoskeletal tissue origin, development, chemical, and structural characteristics, as well as its evolution and homology, are few and fragmented. This study compar...

The springlike mechanics of the human leg during bouncing gaits has inspired the design of passive assistive devices that use springs to aid locomotion. The purpose of this study was to test whether a passive spring-loaded ankle exoskeleton could reduce the mechanical and energetic demands of bilateral hopping on the musculoskeletal system. Joint level kinematics and kinetics were collected wit...

Exoskeletons have the potential to assist and augment human performance. Understanding how users adapt their movement and neuromuscular control in response to external assistance is important to inform the design of these devices. The aim of this research was to evaluate changes in muscle recruitment and coordination for ten unimpaired individuals walking with an ankle exoskeleton. We evaluated...

Currently, lower-body exoskeletons for paraplegics are investigated as an alternative to wheelchairs and as an exercise method with medical benefits. Literature provides little examples for users to influence the length or frequency of steps taken by the exoskeleton, complicating stability and practical usability. This study proposes a novel control paradigm that allows users to influence step ...

this study was undertaken to determine the concentrations of metals in the muscle and exoskeletonof the crayfish orconectes limosus in order to compare them with other species of crayfish and crustaceans.in addition, we analyzed the correlation between the concentrations of the same element in the exoskeleton andthe meat and different elements accumulated in the same tissue. crayfish individual...

Title: Exoskeleton-assisted Gait Training to Improve Gait in Individuals with Spinal Cord Injury: A Pilot Randomized Study Authors: Shuo-Hsiu Chang ([email protected]) Taimoor Afzal ([email protected]) TIRR SCI Clinical Exoskeleton Group TIRR SCI Clinical Exoskeleton Group ([email protected]) Jeffrey Berliner ([email protected]) Gerard Francisc...

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton. Keywords—Dynamic Analysis...