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Zhou T, Xiong C, Zhang J, et al. Regulating metabolic energy among joints during human walking using a multiarticular unpowered exoskeleton. IEEE Trans Neural Syst Rehabil Eng 2021; 29: 662–672. Crossref
Such as the energy storage element and clutch of Collin''s Ankle exoskeleton are installed on the back sides of shank, but their structure were not fully disclosed [11].The clutch of Matthew''s
In 2016, Tsinghua University in China designed an unpowered energy storage exoskeleton (ES-EXO) for the rehabilitation of patients with spinal cord injury
Due to the development of an unpowered exoskeleton in this article, its biggest and most unavoidable challenge is that the nodes for energy release and storage are very fixed. Therefore, it is necessary to evaluate the exoskeleton performance from the changes in joint power during the assistance phase.
1276 Yongfeng Wang et al. Figure 1. Sit down (SD) model of lower extremity. biped mechanism. Ji et al.[27] developed a novel unpowered energy-stored exoskeleton (ES-EXO) for spinal cord injured patients. It provides specific walking assistance for
The paper describes a novel unpowered energy-stored exoskeleton (ES-EXO) for spinal cord injured patients in consideration of patients'' characteristics and injured levels. It proposed a method to optimize the energy-stored element to decrease the hip joint moment in walking. EMG patterns, ground reaction force and motion data from one participant
In this paper, a novel, modular, light mass unpowered. lower extremity exoskeleton is presented. e paper''s. structure is arranged as follows. Firstly, the human motion. model is established by
In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human running gait. To do so,
Background Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce the metabolic rate of walking or running. However, the combined requirements of overcoming the fundamental biomechanical differences between the two
Abstract: The paper describes a novel unpowered energy-stored exoskeleton (ES-EXO) for spinal cord injured patients in consideration of patients'' characteristics and injured levels.
Metabolic energy used during walking can be partly replaced by power input from an exoskeleton. We built a lightweight elastic device that acts in parallel with the user''s calf muscles, off-loading muscle force and thereby reducing the metabolic energy consumed in contractions. Results show that by choosing a proper spring, metabolic cost
" Optimization for the Stiffness of the Spring of the Energy-storage Paraplegia-walking-aided Unpowered Exoskeleton," Journal of Tsinghua University (Natural Science Edition), vol. 57, no. 11, pp. 1179-1184, August 2017. Google Scholar [8]. Wang C..
Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors'' physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder
The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mecha- nism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from
The spring position and stiffness in the energy storage unit were optimized in the Anybody Modeling System simulation software. The optimization results showed that the hip flexion moment
Abstract The unpowered energy-stored exoskeleton can provide precise walking assistance for spinal cord injury patients for a specified body height, weight and injury
Lower limb energy storage assisted exoskeletons realize walking assistance by using the energy stored by elastic elements during walking. Such exoskeletons are characterized by a small volume, light weight and low price. However, energy storage assisted exoskeletons adopt fixed stiffness joints typically, which
1276 Yongfeng Wang et al. Figure 1. Sit down (SD) model of lower extremity. biped mechanism. Ji et al.[27] developed a novel unpowered energy-stored exoskeleton (ES-EXO) for spinal cord injured patients. It provides specific walking assistance for
12 Altmetric. Metrics. Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In
Based on the studies of movement anatomy of the human body, the design scheme of a kind of unpowered aided walking hip-joint exoskeleton is proposed, as shown in Fig. 1. The exoskeleton can follow movement of human body synchronously through the belt and the bandage below knee joints.
Unpowered energy-storage exoskeletons do not require motors, but require more patient muscle strength which may cause fatigue during continuous use. This paper describes a clutched elastic actuator based on a ratchet mechanism that can be used as the hip joint driver for a lower limb of an exoskeleton.
This review is trying to inspire a common understanding about passive exoskeletons for lower extremity and promote discussion among researchers, developers, or robotic practitioners. Unpowered exoskeletons (UEs) have attracted extensive research attentions for their portability, handleability and simplicity. However, designing exoskeletons
Unlike muscles, however, the clutch sustains force passively. The exoskeleton consumes no chemical or electrical energy and delivers no net positive mechanical work, yet reduces the metabolic cost of walking by 7.2 ± 2.6% for healthy human users under natural conditions, comparable to savings with powered devices.
Unpowered energy-storage exoskeletons do not require motors, but require more patient muscle strength which may cause fatigue during continuous use.
In order to reduce the impact of knee injury and energy consumption during exercise, an unpowered exoskeleton was proposed based on the characteristics of ergonomics and human lower limb gait. The Grabowski and Herr 9 at the Massachusetts Institute of Technology proposed an exoskeleton device.
Energy storage is the core element of the research and development on unpowered exoskeleton-assisted robots, and it is an important factor in their development. Table 8 describes the energy storage units of different wearable lower
Unpowered lower limb exoskeletons has the advantages of light weight, low metabolic cost, rarely change normal gait, no external source, sustainable work, etc. It is gradually becoming a hot topic in exoskeleton robot research field. Conventional unpowered lower limb exoskeleton pay less attention to gait energy efficiency, a novel unpowered lower
Due to the development of an unpowered exoskeleton in this article, its biggest and most unavoidable challenge is that the nodes for energy release and
Clutch device is an important part in the unpowered lower extremity exoskeletons; it controls the energy storage and release of exoskeletons in gait. (1) Clutch Device of the Hip . The clutch device of hip is composed of rack, energy storage spring, pawl, and wire rope, as shown in Figure 9 .
Unpowered exoskeletons [ 10, 11 ], which were designed based on a biomechanical analysis of running, enhance the energy efficiency during specific gait
The unpowered hip exoskeleton proposed by Nasiri et al. was the first unpowered exoskeleton that can reduce the metabolic rate of running (by 8.0%) but was found to be ineffective for walking [ 10 ]. The unpowered ankle exoskeleton was the first unpowered exoskeleton that can reduce the metabolic energy (by 7.2%).
controlled energy storage and release to aid ankle propulsion," 2011 IEEE International Conference on Rehabilitation Robotics, Zurich, Jun. 2011, DOI: 10.1109/ICORR.2011.5975342.
Passive (unpowered) exoskeletons use elastic mechanisms to aid users'' muscle-tendon units in storing and transferring energy from one gait phase to another.
Researchers have designed different passive energy storage structures for unpowered exoskeletons. Zhou et al. designed a wearable hip joint exoskeleton, using 3-D printing technology to create waist and thigh braces to adapt to the irregular surface of the human body, setting springs in front of the hip joint, to recover negative mechanical
An exoskeleton using controlled energy storage and release to aid ankle propulsion IEEE Int Conf Rehabil Robot. 2011:2011:5975342. doi: 10.1109/ICORR.2011.5975342. Authors M Bruce Wiggin 1, Gregory S Sawicki, Steven H Collins 1
The exoskeleton consumes no chemical or electrical energy and delivers no net positive mechanical work, yet reduces the metabolic cost of walking by 7.2 ± 2.6% for healthy human users under natural conditions, comparable to savings with powered devices. Improving upon walking economy in this way is analogous to altering the structure of the
The paper describes a novel unpowered energy-stored exoskeleton (ES-EXO) for spinal cord injured patients in consideration of patients'' characteristics and injured levels. It
Removing energy with an exoskeleton reduces the metabolic cost of walking. The use of an exoskeleton that strategically removes kinetic energy during the swing period of the gait cycle reduces the metabolic cost of walking by 2.5 ± 0.8% for healthy male users while converting the removed energy into 0.25 ±0.02 watts of
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