The field of exoskeletons and wearable devices for walking assistance rehabilitation has advanced considerably over the past few years. Currently, commercial contain joints with stiff actuators that cannot adapt to unpredictable environments. These consume more energy may not be appropriate human-machine interactions. Thus, adjustable compliant are being cautiously incorporated into new active orthoses. Some simulation-based studies have evaluated benefits incorporating such devices. Another...

By analysing the dynamic principles of human gait, an economic gait-control analysis is performed, and passive elements are included to increase energy efficiency in motion control active orthoses. Traditional orthoses use position patterns from clinical gait analyses (CGAs) healthy people, which then de-normalized adjusted each user. These maintain a very rigid their cost high, reducing autonomy First, take advantage inherent dynamics legs, state machine pattern with different gains applied...

Lower-limb exoskeletons and powered orthoses in gait assistance applications for patients with locomotive disorders possess the potential to significantly affect society near future. This paper presents primary features of a lower-limb exoskeleton under development as an active orthosis enable paralysed children walk. Because these are unable move their limbs, device generates basic motions everyday life, e.g. standing up, sitting down stable ambulation. Novel this prototype include synergic...

To date, running robots are still outperformed by animals, but their dynamic behaviour can be described the same model. This coincidence means that biomechanical studies reveal much about adaptability and energy efficiency of walking mechanisms. In particular, animals adjust leg stiffness to negotiate terrains with different stiffnesses keep total leg-ground constant. this work, we aim provide one method identify ground-robot impedance so control applied emulate aforementioned animal...

Abstract Background Few portable exoskeletons following the assist-as-needed concept have been developed for patients with neurological disorders. Thus, main objectives of this proof-of-concept study were 1) to explore safety and feasibility an exoskeleton gait rehabilitation in stroke multiple sclerosis patients, 2) test different algorithms assistance measure resulting changes 3) evaluate user’s perception device. Methods A cross-sectional was conducted. Five recruited (4 1 sclerosis)....

The potential of lower-limb exoskeletons and powered orthoses in gait assistance applications for patients with locomotive disorders would have a terrific impact the society near future. This paper presents development main features lower limb exoskeleton being developed as an active orthosis to allow quadriplegic child walk. As patient is not able move any her limbs, device will produce basic motions everyday-life activities: stand up, sit down, walk stably. Synergic biarticular actuation...

Purpose – The purpose of this study is to present a variable stiffness actuator, one whose main features that the compliant elements simultaneously allow measuring torque exerted by joint. Conceived as force-controlled actuator with Adjustable Rigidity and Embedded Sensor (ARES) intended be implemented in knee ATLAS exoskeleton for children exploitation intrinsic dynamic during locomotion cycle. Design/methodology/approach A set simulations were performed evaluate behavior mechanism...

Purpose Reducing energy consumption in walking robots is an issue of great importance field applications such as humanitarian demining so to increase mission time for a given power supply. The purpose this paper address the problem improving efficiency statically stable machines by comparing two leg, insect and mammal, configurations on hexapod robotic platform SILO6. Design/methodology/approach Dynamic simulation used develop set rules that optimize expenditure both configurations. Later,...

Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due impacts, safely interact with the user, store release energy passive elastic elements. Conceived as a new force-controlled actuator, an adjustable rigidity embedded sensor locking mechanism actuator (ARES-XL) is presented this paper. This system intended be gait exoskeleton for children neuro muscular diseases (NMDs) exploit intrinsic dynamics during...

This study reports the initial testing of a gait exoskeleton for Spinal Muscular Atrophy (SMA) patients having variable muscle strength with no balance or ambulation capabilities. To improve quality life such patients, pediatric was developed. The ATLAS has 8 active degrees freedom (DOF): 2 at hip (adduction/abduction and flexion/extension), 1 knee ankle joint flexion extension. A feasibility test performed to gauge response patients. demonstrates that able provide assistance sit-to-stand...

The legged locomotion system of biological quadrupeds has proven to be the most efficient in natural, complex terrain. Particularly, horses' legs have been evolved provide speed, endurance, and strength superior any other animal equal size. Quadruped robots, emulating their counterparts, could become best choice for field missions or natural environments; however, they should provided with optimum performance against mobility, payload, endurance. design leg mechanism is paramount importance...

Current commercial wearable gait exoskeletons contain joints with stiff actuators that cannot adapt to unpredictable environments. These consume a significant amount of energy, and their stiffness may not be appropriate for safe human-machine interactions. Adjustable compliant are being designed implemented because ability minimize large forces due shocks, safely interact the user, store release energy in passive elastic elements. Introduction such actuation exoskeletons, however, has been...

Quadriparesis, caused by a number of congenital and acquired neuropathologies, affects children with the symptoms weakness motor impairment in all four limbs. The physical treatment this disease could be hypothetically improved use wearable exoskeletons which would contribute to avoiding side effects permanent sitting position: scoliosis, osteoporosis, spasticity, respiratory disorders, blood circulation problems, among others. Overall, exoskeleton substantially improvement these children's...

Many robotics applications require contact with the environment, from traditional pick and place task to legged locomotion. Nevertheless, increase adaptability different terrains it is necessary know its properties. These properties can be known beforehand or extracted forces. In this paper a practical evaluation using adaptive filtering techniques extract environmental conditions, intention of robot environments presented. We use well-known linear spring-dashpot model fit parameters four...

Purpose Lower‐limb exoskeletons and powered orthoses are external devices that assist patients with locomotive disorders to achieve correct limb movements. Current batteries cannot meet the long‐term power requirements for these devices, which operate long periods of time. This issue has become a major challenge in development portable robots. Conversely, legged locomotion animals humans is efficient; emulate this behaviour, biomimetic actuation been designed attempting incorporate elements...

Bioinspired quadruped robots are among the best robot designs for field missions over complex terrain encountered in extraterrestrial landscapes and disaster scenarios caused by natural human-made catastrophes, such as those nuclear power plant accidents radiological emergencies. For applications, performance characteristics of should include high mobility, adaptability to terrain, ability handle a large payload good endurance. Nature can provide inspiration that well suited traversing...