Knee exoskeletons are devices that can enhance users’ mobility and strength. Their compatibility with the user’s joint motion is crucial for proper functioning. Typically, knee hinges designed to replicate instantaneous center of rotation (ICR) an average knee. This study represents a exoskeleton worn by user as one DoF closed-kinematic chain, which enables calculating displacement between thigh. The problem optimizing yield low relative movements during flexion extension motions formulated...

Designing a sit-to-stand (STS) assistive system that mimics the normal transfer is important for improving quality of life elderly and mobility impaired people while reducing burden on caregivers. This paper presents robotic-based STS assisting can provide assistance at shoulder buttock. The minimum jerk criterion used to model natural motion. Anthropometry characteristics motion are increase simplicity applicability model. generate hip trajectories during STS. enables either upper trunk or...

Dynamic simulation of manipulators interacting directly with human is crucial for predicating their performance before the actual use. This paper describes dynamic analysis and a novel multi-function mobility assistive device elderly. The designed to help patients who suffer from degradation lower limbs muscular strength. Rather than one function device, proposed intended assist in different limb activities, namely, sit stand walking activities as well transfer paralyzed bed wheelchair them...

Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well challenges. The kinematic analysis of with their differential kinematics yielding the Jacobian a closed form is not trivial task. In paper manipulator based mobility assistive device called EJADII analyzed determine forward kinematics, inverse and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) trained estimate This system would be useful when...

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on lower limbs during sit to stand due aging, diseases such as polymyositis myopathy, joint replacement surgery complications. It follow natural pattern human motion providing assistance force shoulder. overall is compact employees parallel mechanism which provide more...

Recently, more attention has been directed for developing robotic systems that help elderly live independently or rely less on others. This paper describes a novel multi-function mobility assistive device elderly. The proposed aims to patients who don't have enough physical strength their lower limbs due aging diseases. Rather than one function device, the is designed interactively assist in different limb activities; namely, sit stand and walking activities as well transfer paralyzed from...

Recently, more attention has been paid for assisting elderly and people with various disabilities, hence assistive robots have gained much popularity. These are usually in a direct contact the user, therefore dynamic modeling is important precise control. In this paper, model parallel manipulator-based mobility device first developed using type of Lagrange's equations simulated MATLAB software. Also, CAD ADAMS simulation software comparison. Both simulations performed same system parameters...

The issue of understanding the underlying optimality criteria a certain human movement behavior has received considerable attention. Recently, an increased interest exists in Sit-to-Stand (STS) to facilitate optimal design assistive systems. Existing research STS modeling merely depends on some hard-coded criteria, where minimum torque change, jerk or/and effort are mainly adopted. In this paper, light Inverse Optimal Control (IOC) framework, cost function kinematics is learned from given...

The ability to follow a normal anatomical motion is one of the fundamental design requirements wearable exoskeleton. Human knee combination sliding and rolling actions, which can not be replicated by simple kinematic pair with fixed rotation axis. In this paper, polycentric robotic exoskeleton designed based on 5-bar mechanism (5- BM) reproduce motion. Genetic Algorithm finds optimum parameters 5-BM minimizing weighted cost function consists average Joint Force Index (JFI) misalignment...

Sit to stand (STS) is an important daily activity that requires high joint torques and neuromuscular coordination. Robotics-based assistive devices have a great potential increase independence quality of life for elderly disabled people. Comparison between motion kinematic unassisted assisted STS transfer shows commercial lifters result in abnormal pattern motion. Therefore, the minimum shoulder jerk (MSJ) criterion used this paper model natural during transfer. In order assess ability MSJ...

Recently, the potential of assistive robots to enhance independence and quality life for elderly disabled has been given much attention. Designing a multi-function sit-to-stand device is challenging task due high payload large workspace requirements. In this paper, parallel manipulator-based proposed assist in various lower limb activities. The constructed based on non-conventional structure 3-RP_R manipulator, that provides partial kinematic decoupling between position orientation suitable...

EMG-driven musculoskeletal model has been broadly used to detect human intention in rehabilitation robots. This approach computes muscle-tendon force and translates it the joint kinematics. However, parameters of are difficult measure vivo varied across subjects. In this study, a direct collocation (DC) method is proposed optimize subject-specific wrist model. The resultant optimized estimate flexion/extension motion. estimation performance compared with by genetic algorithm. Experiment...

3D-printed polymers have been applied in various fields. Machine learning (ML) has revolutionized material science by providing powerful tools for modeling complex properties. This study investigates the comparative performance of interpretable and black-box ML techniques mechanical tribological properties PLA composites blended with varying amounts date pit particles. While neural networks (NNs) can model input–output relationships high accuracy, they function as models, limiting...

Abstract Developing robotic systems for reducing the dependence of elderly on personal assistance is one most recent hot topics in robotics research. This paper proposes a multifunction mobility assistive device, which consists an assisting parallel manipulator carried over active walker. It developed to interactively assist various lower limb activities, namely, sit-to-stand, walking, bed or toilet wheelchair transfer, and support upright position. The constructed based two nonconventional...

Robot dynamic modeling and parameter identification are essential for many analyses. High-fidelity multi-body dynamics simulators can model the robot's behavior, but they can't identify robot non-linear model, which is needed controller design. This study proposes a three-step machine learning framework obtaining equations of serial manipulators from data. consists three steps. Initially, A library candidate functions first constructed, together with data set based on unforced response....

In this paper, we propose a novel iterative learning control (ILC) scheme for precise state tracking of pneumatic muscle (PM) actuators. Two critical issues are considered in our scheme: 1) constraints on PM position and velocity; 2) uncertainties the model. Based three-element form, model is constructed that takes both parametric nonparametric into consideration. By introducing composite energy function (CEF) approach incorporated with barrier Lyapunov (BLF), full will not be violated...