BACKGROUND Even though walking can be sustained for great distances, considerable energy is required for plantarflexion around the instant of opposite leg heel contact. Different groups attempted to reduce metabolic cost with exoskeletons but none could achieve a reduction beyond the level of walking without exoskeleton, possibly because there is no consensus on the optimal actuation timing. Th...

Main objective of this research is to find out the torque characteristics and its relation to critical parameters that are essential to run an exoskeleton. The torque required for the arm movements, joint torques because of gravity and residual forces are the key parameters that one need to consider while designing an exoskeleton for the upper extremity joints. For finding out these parameters,...

The integration of the brain-machine interface (BMI) and the exoskeleton technique has the potential to promote the understanding of fundamental principles in neural control of movement, as well as to motivate a new generation of rehabilitation or power augmentation exoskeleton systems. In this paper, the kinematic design and development of a 6-DOF upper limb exoskeleton for a BMI study is pres...

This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design...

In October 2003, the first functional load-bearing and energetically autonomous exoskeleton was demonstrated at Berkeley, walking at the average speed of two miles per hour while carrying 75 pounds of load. DARPA funded the Berkeley Lower Extremity Exoskeleton (BLEEX) project in 2000 at Berkeley. In general, four fundamental technologies were tackled during the course of this project. These fou...

We present an overview of the work devoted to exoskeletons which has been performed for the last seven years at TU Berlin. Three different types of exoskeleton devices have been developed: hand and finger exoskeletons for rehabilitation, a leg exoskeleton for motion support, and an arm exoskeleton for multimodal human-computer interaction. The research has been focused on different types of con...

In recent years, surface electromyography (sEMG) signals which reflect directly human muscle activity have played a significant role in control of a lower extremity exoskeleton system. Our study concentrates on simulation and processing techniques of sEMG signal that we are applying to our exoskeleton robot. Simulation and experiment results are presented and analyzed deeply to validate the tec...

Content of mercury in hepatopancreas, muscle and exoskeleton of blue crab T. prymna from Musa estuary and their relationship with size of the organism and season were determined. Mean concentration of mercury in hepatopancreas, muscle and exoskeleton were 1.23, 0.61 and 0.41 µg/g dw, respectively. There was significant difference (p<0.05) in mercury levels depending on the sex with greater ...

‡ [email protected] Abstract—In order * to widen the potentialities of manipulation of the LMS mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. Its kinematics architecture and dimensions are identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very q...

This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller ...