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Design Of A Quasi Passive Parallel Leg Exoskeleton To Augment Load Carrying For Walking
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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.
Book Synopsis Biomimetic Design for an Under-actuated Leg Exoskeleton for Load-carrying Augmentation by : Conor James Walsh
Download or read book Biomimetic Design for an Under-actuated Leg Exoskeleton for Load-carrying Augmentation written by Conor James Walsh and published by . This book was released on 2006 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Metabolic studies have shown that there is a metabolic cost associated with carrying a load (Griffin et al, 2003). Further studies have shown that by applying forward propulsive forces a person can walk with a reduced metabolic rate (Farley & McMahon, 1992 and Gottschall & Kram, 2003). Previous work on exoskeleton design has not considered the passive dynamics of walking and has focused on fully actuated systems that are inefficient and heavy. In this thesis, an under-actuated exoskeleton is presented that runs parallel to the human leg. The exoskeleton component design is based on the kinematics and kinetics of human walking. The joint components of the exoskeleton in the sagittal plane consist of a force-controllable actuator at the hip, a variable-damper mechanism at the knee and a passive spring at the ankle. A state-machine control strategy is written based on joint angle and ground-exoskeleton force sensing. Positive, non-conservative power is added at the hip during the walking cycle to help propel the mass of the human and payload forward. At the knee, the damper mechanism is turned on at heel strike as the exoskeleton leg is loaded and turned off during terminal stance to allow knee flexion.
Book Synopsis Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines by : Mohammad Osman Tokhi
Download or read book Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2012-07-11 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Book Synopsis Wearable Sensors and Robots by : Canjun Yang
Download or read book Wearable Sensors and Robots written by Canjun Yang and published by Springer. This book was released on 2016-09-30 with total page 571 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots. div
Book Synopsis Adaptive Mobile Robotics by : Abul K. M. Azad
Download or read book Adaptive Mobile Robotics written by Abul K. M. Azad and published by World Scientific. This book was released on 2012 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Book Synopsis Dynamical Systems: Modelling by : Jan Awrejcewicz
Download or read book Dynamical Systems: Modelling written by Jan Awrejcewicz and published by Springer. This book was released on 2016-09-02 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is a collection of contributions devoted to analytical, numerical and experimental techniques of dynamical systems, presented at the international conference "Dynamical Systems: Theory and Applications," held in Łódź, Poland on December 7-10, 2015. The studies give deep insight into new perspectives in analysis, simulation, and optimization of dynamical systems, emphasizing directions for future research. Broadly outlined topics covered include: bifurcation and chaos in dynamical systems, asymptotic methods in nonlinear dynamics, dynamics in life sciences and bioengineering, original numerical methods of vibration analysis, control in dynamical systems, stability of dynamical systems, vibrations of lumped and continuous systems, non-smooth systems, engineering systems and differential equations, mathematical approaches to dynamical systems, and mechatronics.
Book Synopsis Dynamical Systems in Applications by : Jan Awrejcewicz
Download or read book Dynamical Systems in Applications written by Jan Awrejcewicz and published by Springer. This book was released on 2018-09-01 with total page 507 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is intended for all those who are interested in application problems related to dynamical systems. It provides an overview of recent findings on dynamical systems in the broadest sense. Divided into 46 contributed chapters, it addresses a diverse range of problems. The issues discussed include: Finite Element Analysis of optomechatronic choppers with rotational shafts; computational based constrained dynamics generation for a model of a crane with compliant support; model of a kinetic energy recuperation system for city buses; energy accumulation in mechanical resonance; hysteretic properties of shell dampers; modeling a water hammer with quasi-steady and unsteady friction in viscoelastic conduits; application of time-frequency methods for the assessment of gas metal arc welding conditions; non-linear modeling of the human body’s dynamic load; experimental evaluation of mathematical and artificial neural network modeling for energy storage systems; interaction of bridge cables and wake in vortex-induced vibrations; and the Sommerfeld effect in a single DOF spring-mass-damper system with non-ideal excitation.
Book Synopsis Design and Implementation of a Robotic Lower Limb Exoskeleton by : Jared Mednick
Download or read book Design and Implementation of a Robotic Lower Limb Exoskeleton written by Jared Mednick and published by . This book was released on 2011 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Biped Locomotion by : Miomir Vukobratovic
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Book Synopsis Design and Evaluation of a Quasi-passive Robotic Knee Brace by : Grant Andrew Elliott
Download or read book Design and Evaluation of a Quasi-passive Robotic Knee Brace written by Grant Andrew Elliott and published by . This book was released on 2012 with total page 139 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the effects of series compliance on running biomechanics are documented, the effects of parallel compliance are known only for the simpler case of hopping. As many practical exoskeleton and orthosis designs act in parallel with the leg, it is desirable to understand the effects of such an intervention. Spring-like forces offer a natural choice of perturbation, as they are both biologically motivated and energetically inexpensive to implement. To this end, this thesis investigates the hypothesis that the addition of an external elastic element at the knee during the stance phase of running results in a reduction in knee extensor activation so that total joint quasi-stiffness is maintained. To test this, an exoskeleton is presented, consisting of a leaf spring in parallel with the knee joint and a clutch which engages this spring only during stance. The design of a custom interference clutch, made necessary by the need for high holding torque but low mass, is discussed in detail, as are problems of human attachment. The greater applicability of this clutch design to other problems in rehabilitation and augmentation is also addressed. Motion capture of four subjects is used to investigate the consequences of running with this exoskeleton. Leg stiffness is found to increase with distal mass, but no significant change in leg stiffness or total knee stiffness is observed due to the activation of the clutched parallel knee spring. However, preliminary evidence suggests differing responses between trained marathon runners, who appear to maintain biological knee torque, and recreational runners, who appear to maintain total knee torque. Such a relationship between degree of past training and effective utilization of an external force is suggestive of limitations on the applications of assistive devices.
Book Synopsis Force Control Theory and Method of Human Load Carrying Exoskeleton Suit by : Zhiyong Yang
Download or read book Force Control Theory and Method of Human Load Carrying Exoskeleton Suit written by Zhiyong Yang and published by Springer. This book was released on 2017-04-06 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest advances in concepts and further development of principal component analysis (PCA), discussing in detail a number of open problems related to dimensional reduction techniques and their extensions. It brings together research findings, previously scattered throughout many scientific journal papers worldwide, and presents them in a methodologically unified form. Offering vital insights into the subject matter in self-contained chapters that balance the theory and concrete applications, and focusing on open problems, it is essential reading for all researchers and practitioners with an interest in PCA
Book Synopsis Wearable Robotics: Challenges and Trends by : José González-Vargas
Download or read book Wearable Robotics: Challenges and Trends written by José González-Vargas and published by Springer. This book was released on 2016-10-04 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 2nd International Symposium on Wearable Robotics, WeRob2016, held October 18-21, 2016, in Segovia, Spain, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2016 with the International Conference on Neurorehabilitation, INCR2016. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Book Synopsis Intelligent Robotics and Applications by : Jangmyung Lee
Download or read book Intelligent Robotics and Applications written by Jangmyung Lee and published by Springer. This book was released on 2013-08-23 with total page 767 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two volume set LNAI 8102 and LNAI 8103 constitutes the refereed proceedings of the 6th International Conference on Intelligent Robotics and Applications, ICIRA 2013, held in Busan, South Korea, in September 2013. The 147 revised full papers presented were carefully reviewed and selected from 184 submissions. The papers discuss various topics from intelligent robotics, automation and mechatronics with particular emphasis on technical challenges associated with varied applications such as biomedical application, industrial automation, surveillance and sustainable mobility.
Book Synopsis Revolutions in Product Design for Healthcare by : Karupppasamy Subburaj
Download or read book Revolutions in Product Design for Healthcare written by Karupppasamy Subburaj and published by Springer Nature. This book was released on 2022-02-28 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book coherently presents advances in design principles, processes, and methods in healthcare product design. It captures the implications of technological advances on designing healthcare products especially when market and societal needs pull each other in opposite directions. The contents focus on innovative design thinking processes and methods in developing healthcare products, applications of digital technologies in healthcare product design, amalgamation of artificial intelligence and design thinking for healthcare product design and quality, sustainability, and regulatory aspects in the design process. This book is a useful reference for those in the industry and academia.
Book Synopsis Wearable Exoskeleton Systems by : Shaoping Bai
Download or read book Wearable Exoskeleton Systems written by Shaoping Bai and published by Control, Robotics and Sensors. This book was released on 2018 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc. In this book, the editors and authors report recent advances and technology breakthroughs in exoskeleton developments. It will be of interest to engineers and researchers in academia and industry as well as manufacturing companies interested in developing new markets in wearable exoskeleton robotics.
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.
Book Synopsis Mechanism Design for Robotics by : Marco Ceccarelli
Download or read book Mechanism Design for Robotics written by Marco Ceccarelli and published by MDPI. This book was released on 2019-06-21 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world. The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications. This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
