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A Walker Like Exoskeleton Could Reduce The Metabolic Cost Of Walking
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Book Synopsis A Walker-like Exoskeleton Could Reduce the Metabolic Cost of Walking by : Sloan M. Zimmerman
Download or read book A Walker-like Exoskeleton Could Reduce the Metabolic Cost of Walking written by Sloan M. Zimmerman and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Current robotic devices in the fields of physical therapy and task assistance are limited in their ability to act as research tools for understanding human biomechanics and human-device interactions. Often these devices are complex, making them harder to capture using computational models, which results in an inability to predict device behavior and improve upon the device’s design. Here, we consider a cart-like device that surrounds the user and provides assistive forces to the user through soft, spring connections. These adjustable soft connections improve the flexibility of the device. In order to evaluate device performance, healthy subjects were asked to walk on a treadmill at a constant walking speed. The cart was either free to move on the treadmill (untied cart) as a passive device, or was fixed to the treadmill’s front handrail (tied cart) to simulate a powered device. A statistically significant reduction in metabolic cost (p-value of 0.0015) was achieved by switching from normal walking to the tied (active) cart. We also developed a mathematical model of the person walking with the cart, which predicted that the active cart would decrease the metabolic cost of walking below normal unassisted walking. Ongoing work involves tuning the model for better quantitative trends, tuning the device for lower human costs, and refining a version of the device powered by a motorized wheel.
Book Synopsis Development of Effective Hip-knee-ankle Exoskeleton Assistance for Different Walking Conditions by : Gwendolyn Bryan
Download or read book Development of Effective Hip-knee-ankle Exoskeleton Assistance for Different Walking Conditions written by Gwendolyn Bryan and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower-limb exoskeletons could assist people in a variety of locomotor activities such as walking, running, jumping, and carrying loads. These devices could be beneficial to first responders, military personnel, laborers, and in the future, may be able to assist patient populations and older adults. Recent successful strategies for able-bodied individuals have reduced the metabolic cost of walking by up to 24% when assisting the hips, ankles or both joints. However, there has been limited exploration into simultaneous assistance at the hips, knees, and ankles which may lead to the greatest metabolic reductions of any joint configuration. It is currently unclear how to effectively assist the whole leg as well as how that effective assistance should vary with gait condition. In my doctoral research, I developed a bilateral lower-limb exoskeleton emulator and used it to optimize hip-knee-ankle exoskeleton assistance in a variety of gait conditions. This device is a flexible research testbed that can quickly apply a wide variety of assistance strategies by simply updating the device controller. We used the bilateral lower-limb exoskeleton emulator to optimize hip-knee-ankle exoskeleton assistance through human-in-the-loop optimization, a strategy that adjusts exoskeleton assistance in real time using online user performance measurements. In the first optimization study, we optimized exoskeleton assistance to minimize metabolic cost at slow (1.0 m/s), medium (1.25 m/s) and fast (1.5 m/s) walking speeds. Exoskeleton assistance reduced the metabolic cost of walking relative to walking in the device without assistance by 26% for slow walking, 47% for medium-speed walking, and 50% for fast walking. In the second study, we optimized exoskeleton assistance to minimize the metabolic cost of walking with no load, a light load (15% of user body weight), and a heavy load (30% of user body weight). The weight was applied through a weight vest. Exoskeleton assistance reduced the metabolic cost of walking by 48% with no load, 36% with the light load, and 43% with the heavy load. The results of these studies show that hip-knee-ankle exoskeleton assistance can substantially decrease the metabolic cost of walking at a variety of speeds and with different worn loads. The results from these studies could inform the design of future exoskeleton products and influence future exoskeleton experiments. Exoskeleton products could use the optimized torque profiles found here to dictate needed device capabilities, and the metabolic reductions from these studies provide a benchmark for expected performance. Future exoskeleton experiments could use the optimized torque profiles as a starting point to investigate useful exoskeleton assistance in novel gait conditions, during non-steady state walking, and with patient populations or older adults. While optimizing exoskeleton assistance to reduce metabolic cost was effective for able-bodied adults, it may be beneficial to investigate alternative performance metrics for patient populations like increasing self-selected walking speed or enhancing balance. The results of these studies could inform effective exoskeleton assistance for future products and studies for years to come.
Book Synopsis Development of Effective Hip-knee-ankle Exoskeleton Assistance for Different Walking Conditions by : Gwendolyn M. Bryan
Download or read book Development of Effective Hip-knee-ankle Exoskeleton Assistance for Different Walking Conditions written by Gwendolyn M. Bryan and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower-limb exoskeletons could assist people in a variety of locomotor activities such as walking, running, jumping, and carrying loads. These devices could be beneficial to first responders, military personnel, laborers, and in the future, may be able to assist patient populations and older adults. Recent successful strategies for able-bodied individuals have reduced the metabolic cost of walking by up to 24% when assisting the hips, ankles or both joints. However, there has been limited exploration into simultaneous assistance at the hips, knees, and ankles which may lead to the greatest metabolic reductions of any joint configuration. It is currently unclear how to effectively assist the whole leg as well as how that effective assistance should vary with gait condition. In my doctoral research, I developed a bilateral lower-limb exoskeleton emulator and used it to optimize hip-knee-ankle exoskeleton assistance in a variety of gait conditions. This device is a flexible research testbed that can quickly apply a wide variety of assistance strategies by simply updating the device controller. We used the bilateral lower-limb exoskeleton emulator to optimize hip-knee-ankle exoskeleton assistance through human-in-the-loop optimization, a strategy that adjusts exoskeleton assistance in real time using online user performance measurements. In the first optimization study, we optimized exoskeleton assistance to minimize metabolic cost at slow (1.0 m/s), medium (1.25 m/s) and fast (1.5 m/s) walking speeds. Exoskeleton assistance reduced the metabolic cost of walking relative to walking in the device without assistance by 26% for slow walking, 47% for medium-speed walking, and 50% for fast walking. In the second study, we optimized exoskeleton assistance to minimize the metabolic cost of walking with no load, a light load (15% of user body weight), and a heavy load (30% of user body weight). The weight was applied through a weight vest. Exoskeleton assistance reduced the metabolic cost of walking by 48% with no load, 36% with the light load, and 43% with the heavy load. The results of these studies show that hip-knee-ankle exoskeleton assistance can substantially decrease the metabolic cost of walking at a variety of speeds and with different worn loads. The results from these studies could inform the design of future exoskeleton products and influence future exoskeleton experiments. Exoskeleton products could use the optimized torque profiles found here to dictate needed device capabilities, and the metabolic reductions from these studies provide a benchmark for expected performance. Future exoskeleton experiments could use the optimized torque profiles as a starting point to investigate useful exoskeleton assistance in novel gait conditions, during non-steady state walking, and with patient populations or older adults. While optimizing exoskeleton assistance to reduce metabolic cost was effective for able-bodied adults, it may be beneficial to investigate alternative performance metrics for patient populations like increasing self-selected walking speed or enhancing balance. The results of these studies could inform effective exoskeleton assistance for future products and studies for years to come.
Book Synopsis Simulating Exoskeletons to Assist Walking by : Nicholas August Bianco
Download or read book Simulating Exoskeletons to Assist Walking written by Nicholas August Bianco and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable robotic exoskeletons provide a promising opportunity to improve human mobility. Recent advances in assistive technology have produced reductions in energy cost of walking, but exoskeleton design can often be a time-consuming and unintuitive process. Musculoskeletal simulation is a promising approach for speeding device design by revealing how exoskeleton assistance affects muscle behavior and alters walking motions. However, few studies have yet to effectively utilize simulations for device design, and simulation pipelines are often difficult to recreate and share. This dissertation work includes three projects aimed at developing better simulation tools and using them to design exoskeleton assistance. First, my labmate Chris Dembia and I created OpenSim Moco, a flexible software package that makes it easy to create simulations for biomechanics research using optimal control. Second, I used simulations to show that exoskeletons that assist multiple joints can effectively reduce the metabolic cost of walking using a simplified control strategy. Finally, I used simulations to reveal how exoskeleton torques affect the motion of the center of mass during walking. This work can be used by designers to make informed decisions when developing exoskeleton devices to reduce metabolic cost or improve walking stability. The simulations and software I created are freely available for other researchers to build upon and to accelerate future work.
Book Synopsis Autonomous Powered Exoskeleton to Improve the Efficiency of Human Walking by : Luke Matthewson Mooney
Download or read book Autonomous Powered Exoskeleton to Improve the Efficiency of Human Walking written by Luke Matthewson Mooney and published by . This book was released on 2016 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: For over a century, technologists have strived to develop autonomous leg exoskeletons that reduce the metabolic energy consumed when humans walk and run, but such technologies have traditionally remained unachievable. In this thesis, I present the Augmentation Factor, a simple model that predicts the metabolic impact of lower limb exoskeletons during walking. The Augmentation Factor balances the benefits of positive exoskeletal mechanical power with the costs of mechanical power dissipation and added limb mass. These insights were used to design and develop an autonomous powered ankle exoskeleton. A lightweight electric actuator mounted on the lower-leg provides mechanical assistance to the ankle during powered plantar flexion. Use of the exoskeleton significantly reduced the metabolic cost of walking by 11 ± 4% (p = 0.019) compared to walking without the device. In a separate study, use of the exoskeleton reduced the metabolic cost of walking with a 23 kg weighted vest by 8 ± 3% (p = 0.012). A biomechanical study revealed that the powered ankle exoskeleton does not simply replace ankle function, but augments the biological ankle while assisting the knee and hip. Use of the powered ankle exoskeleton was shown to significantly reduced the mean positive power of the biological ankle by 0.033 ± 0.006 W/kg (p
Book Synopsis Assisting Walking in Individuals with Chronic Stroke Using Exoskeletons by : Thu M. Nguyen
Download or read book Assisting Walking in Individuals with Chronic Stroke Using Exoskeletons written by Thu M. Nguyen and published by . This book was released on 2022 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke often results in hemiparesis and gait asymmetries, such as spatial, temporal, or kinematic asymmetries between the paretic and nonparetic legs. Asymmetric gaits have been correlated with higher metabolic cost, slower walking speeds, and lower mobility. These gaits can also cause joint pain due to repetitive high loads on the nonparetic limb. For these reasons, physical therapists try to decrease gait asymmetries, and their interventions have been shown to be effective. However, sessions are expensive, limiting access. More automated rehabilitation techniques have been developed, but they have not been more effective than conventional physical therapy. A better understanding of the mechanisms driving gait asymmetry could allow for the development of more targeted, effective, and accessible gait interventions. In my doctoral research, I first studied the correlation between step length asymmetry and metabolic cost in individuals with chronic stroke and in unimpaired participants. Participants were tasked with altering their step length asymmetry using biofeedback. All participants were able to significantly alter their step length asymmetry. Unimpaired participants self-selected a symmetric step length asymmetry that correlated to the lowest energy cost. However, for individuals with chronic stroke, metabolic cost minimization did not explain self-selected step length asymmetry. I then built a unilateral knee-ankle exoskeleton emulator that can actuate knee flexion, knee extension, and ankle plantarflexion. I designed a knee position controller to track desirable knee kinematics and demonstrated the mechatronic capabilities of the emulator system on one unimpaired participant and one participant with chronic stroke. The knee position controller was able to prevent negative impacts at the knee when plantarflexion torques were applied, and the position controller could track different desired knee trajectories with low tracking error. The results from these studies could better inform the design of future rehabilitation tools and assistive devices. Our results suggest that metabolic energy consumption probably will not be a barrier to therapists who seek to improve step length asymmetry. Additionally, we found that active ankle plantarflexion assistance can cause increased knee extension which might lead to long-term tissue damage with constant use. Assistive devices simultaneously assisting the ankle and knee could prevent these poor knee responses. This might allow for a more comfortable application of larger magnitude ankle torques which could potentially improve metabolic reductions. These projects have led to a new experimental tool that can be used to discover beneficial participant-specific assistance strategies for individuals with chronic stroke.
Book Synopsis Design of a Quasi-passive Parallel Leg Exoskeleton to Augment Load Carrying for Walking by : Andrew J. Valiente
Download or read book Design of a Quasi-passive Parallel Leg Exoskeleton to Augment Load Carrying for Walking written by Andrew J. Valiente and published by . This book was released on 2005 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: (cont.) When the springs are removed from the aforementioned pin knee exoskeleton, the metabolic cost relative to unassisted load carrying increased to 83%. These results indicate that the implementation of springs is beneficial in exoskeleton design.
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Book Synopsis Coordinated energy-efficient walking assistance for paraplegic patients by using the exoskeleton-walker system by : Chen Yang
Download or read book Coordinated energy-efficient walking assistance for paraplegic patients by using the exoskeleton-walker system written by Chen Yang and published by OAE Publishing Inc.. This book was released on 2024-03-19 with total page 18 pages. Available in PDF, EPUB and Kindle. Book excerpt: Overground walking can be achieved for patients with gait impairments by using the lower limb exoskeleton robots. Since it is a challenge to keep balance for patients with insufficient upper body strength, a robotic walker is necessary to assist with the walking balance. However, since the walking pattern varies over time, controlling the robotic walker to follow the walking of the human-exoskeleton system in coordination is a critical issue. Inappropriate control strategy leads to the unnecessary energy cost of the human-exoskeleton-walker (HEW) system and also results in the bad coordination between the human-exoskeleton system and the robotic walker. In this paper, we proposed a Coordinated Energy-Efficient Control (CEEC) approach for the HEW system, which is based on the extremum seeking control algorithm and the coordinated motion planning strategy. First, the extremum seeking control algorithm is used to find the optimal supporting force of the support joint in real time to maximize the energy efficiency of the human-exoskeleton system. Second, the appropriate reference joint angles for wheels of the robotic walker can be generated by the coordinated motion planning strategy, causing the good coordination between the human-exoskeleton system and the robotic walker. The proposed approach has been tested on the HEW simulation model, and the experimental results indicate that the coordinated energy-efficient walking can be achieved with the proposed approach, which is increased by 60.16% compared to the conventional passive robotic walker.
Book Synopsis Neuro-motor control and feed-forward models of locomotion in humans by : Marco Iosa
Download or read book Neuro-motor control and feed-forward models of locomotion in humans written by Marco Iosa and published by Frontiers Media SA. This book was released on 2015-07-29 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: Locomotion involves many different muscles and the need of controlling several degrees of freedom. Despite the Central Nervous System can finely control the contraction of individual muscles, emerging evidences indicate that strategies for the reduction of the complexity of movement and for compensating the sensorimotor delays may be adopted. Experimental evidences in animal and lately human model led to the concept of a central pattern generator (CPG) which suggests that circuitry within the distal part of CNS, i.e. spinal cord, can generate the basic locomotor patterns, even in the absence of sensory information. Different studies pointed out the role of CPG in the control of locomotion as well as others investigated the neuroplasticity of CPG allowing for gait recovery after spinal cord lesion. Literature was also focused on muscle synergies, i.e. the combination of (locomotor) functional modules, implemented in neuronal networks of the spinal cord, generating specific motor output by imposing a specific timing structure and appropriate weightings to muscle activations. Despite the great interest that this approach generated in the last years in the Scientific Community, large areas of investigations remain available for further improvement (e.g. the influence of afferent feedback and environmental constrains) for both experimental and simulated models. However, also supraspinal structures are involved during locomotion, and it has been shown that they are responsible for initiating and modifying the features of this basic rhythm, for stabilising the upright walking, and for coordinating movements in a dynamic changing environment. Furthermore, specific damages into spinal and supraspinal structures result in specific alterations of human locomotion, as evident in subjects with brain injuries such as stroke, brain trauma, or people with cerebral palsy, in people with death of dopaminergic neurons in the substantia nigra due to Parkinson’s disease, or in subjects with cerebellar dysfunctions, such as patients with ataxia. The role of cerebellum during locomotion has been shown to be related to coordination and adaptation of movements. Cerebellum is the structure of CNS where are conceivably located the internal models, that are neural representations miming meaningful aspects of our body, such as input/output characteristics of sensorimotor system. Internal model control has been shown to be at the basis of motor strategies for compensating delays or lacks in sensorimotor feedbacks, and some aspects of locomotion need predictive internal control, especially for improving gait dynamic stability, for avoiding obstacles or when sensory feedback is altered or lacking. Furthermore, despite internal model concepts are widespread in neuroscience and neurocognitive science, neurorehabilitation paid far too little attention to the potential role of internal model control on gait recovery. Many important scientists have contributed to this Research Topic with original studies, computational studies, and review articles focused on neural circuits and internal models involved in the control of human locomotion, aiming at understanding the role played in control of locomotion of different neural circuits located at brain, cerebellum, and spinal cord levels.
Book Synopsis Rehabilitation Robotics: Challenges in Design, Control, and Real Applications by : Francisco Romero Sánchez
Download or read book Rehabilitation Robotics: Challenges in Design, Control, and Real Applications written by Francisco Romero Sánchez and published by Frontiers Media SA. This book was released on 2022-08-31 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Neural Prostheses for Locomotion by : Daniel P. Ferris
Download or read book Neural Prostheses for Locomotion written by Daniel P. Ferris and published by Frontiers Media SA. This book was released on 2022-01-04 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Bioinspired Legged Locomotion by : Maziar Ahmad Sharbafi
Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles
Book Synopsis Atlas of Orthoses and Assistive Devices by : Joseph Webster
Download or read book Atlas of Orthoses and Assistive Devices written by Joseph Webster and published by Elsevier Health Sciences. This book was released on 2017-11-24 with total page 585 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in the material sciences, 3D printing technology, functional electrical stimulation, smart devices and apps, FES technology, sensors and microprocessor technologies, and more have lately transformed the field of orthotics, making the prescription of these devices more complex than ever before. Atlas of Orthoses and Assistive Devices, 5th Edition, brings you completely up to date with these changes, helping physiatrists, orthopaedic surgeons, prosthetists, orthotists, and other rehabilitative specialists work together to select the appropriate orthotic device for optimal results in every patient.
Book Synopsis Rehabilitation Robots for Neurorehabilitation in High-, Low-, and Middle-Income Countries by : Michelle Jillian Johnson
Download or read book Rehabilitation Robots for Neurorehabilitation in High-, Low-, and Middle-Income Countries written by Michelle Jillian Johnson and published by Academic Press. This book was released on 2023-10-27 with total page 569 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rehabilitation Robots for Neurorehabilitation in High, Low, and Middle Income Countries: Current Practice, Barriers, and Future Directions describes the state-of-art research of stroke rehabilitation using robot systems in selected High Income Countries (HICs) and Low and Middle Income Countries (LMICs), along with potential solutions that enable these technologies to be available to clinicians worldwide, regardless of country and economic status. The book brings together engineers and clinicians, offers insights into healthcare disparities, and highlights potential solutions to facilitate the availability and accessibility of more robot systems to stroke survivors and their clinicians worldwide, regardless of country and economic status.In addition, the book provides examples on how robotic technology is used to bridge rehabilitation gaps in LMICs and describes potential strategies for increasing the expansion of robot-assisted stroke rehabilitation across more LMICs. Provides a global picture of robot-assisted neurorehabilitation Describes stroke healthcare in selected LMICs and selected HICs, along with disparity issues Discusses potential barriers to the penetration of rehabilitation robots into LMICs Presents concrete examples on how clinicians and engineers have begun to address healthcare gaps with rehabilitation robotics and how to deal with accessibility barriers
Download or read book Gait Analysis written by Jacquelin Perry and published by CRC Press. This book was released on 2024-06-01 with total page 570 pages. Available in PDF, EPUB and Kindle. Book excerpt: The extensive and ground-breaking work of Dr. Jacquelin Perry is encompassed and detailed in the world renowned text, Gait Analysis: Normal and Pathological Function. The medical, healthcare, and rehabilitation professions key text for over 18 years on gait.... Now available in a much anticipated New Second Edition Dr. Jacquelin Perry is joined by Dr. Judith Burnfield to present today's latest research findings on human gait. Gait Analysis, Second Edition has been updated and expanded to focus on current research, more sophisticated methods, and the latest equipment available to analyze gait. What is New: • A new chapter covering running • Synergy of motion between the two limbs • A new chapter covering pediatrics • A new chapter covering stair negotiation • New and updated clinical examples • A section on power inside each chapter covering normal gait • New methods and equipment to analyze gait This Second Edition to Gait Analysis offers a re-organization of the chapters and presentation of material in a more user-friendly, yet comprehensive format. Essential information is provided describing gait functions, and clinical examples to identify and interpret gait deviations. Learning is further reinforced with images and photographs. Features: • Six sections cover the fundamentals, normal gait, pathological gait, clinical considerations, advanced locomotor functions, and gait analysis systems • Clinical significance of the most common pathological gait patterns • Over 470 illustrations and photographs, as well as 40 tables • Patient examples to illustrate elements of normal and pathological gait Tens of thousands of orthopedic, orthotic and prosthetic, physical therapy, and other rehabilitation professionals have kept a copy of Gait Analysis by their side for over 18 years...join the thousands more who will bring the Second Edition into their clinics, classrooms, and personal collections.
Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
