The document discusses the history and state of lower extremity exoskeletons and active orthoses. It outlines important definitions, early exoskeleton development efforts from the 1890s to 1980s, current performance augmenting exoskeletons including the Berkeley Exoskeleton, and active orthosis devices. The document also explores future development opportunities in this area.
Copyright:
Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online from Scribd
The document discusses the history and state of lower extremity exoskeletons and active orthoses. It outlines important definitions, early exoskeleton development efforts from the 1890s to 1980s, current performance augmenting exoskeletons including the Berkeley Exoskeleton, and active orthosis devices. The document also explores future development opportunities in this area.
The document discusses the history and state of lower extremity exoskeletons and active orthoses. It outlines important definitions, early exoskeleton development efforts from the 1890s to 1980s, current performance augmenting exoskeletons including the Berkeley Exoskeleton, and active orthosis devices. The document also explores future development opportunities in this area.
Copyright:
Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online from Scribd
The document discusses the history and state of lower extremity exoskeletons and active orthoses. It outlines important definitions, early exoskeleton development efforts from the 1890s to 1980s, current performance augmenting exoskeletons including the Berkeley Exoskeleton, and active orthosis devices. The document also explores future development opportunities in this area.
Copyright:
Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online from Scribd
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Performance Augmenting Exoskeletons • Early Exoskeletons • Berkeley Exoskeleton • Sarcos Exoskeleton • MIT Exoskeleton • Enabling Technologies • Hybrid Assistive Leg • Nurse-Assisting Exoskeleton • RoboKnee Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art Early Exoskeletons • 1890 – Yagn’s running aid – Not successfully demonstrated • 1963 – Zaroodny of the U.S. Army Exterior Ballistics Laboratory – Published paper with practical problems • Portable power supplies • Sensing and controlling challenges • Physical interface with humain • Biomechanics of locomotion
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Early Exoskeletons (cont …)
• 1960 - General Electric Research
– Physical model – 30 DOF and 680 kg – Strength amplification 25:1 – Lower limb problems not resolved • 1980 - Jeffrey Moore at the Los Alamos National Laboratory – Not started due to lacking of funding, but seeded Defense Advanced Research Projects Agency (DARPA) • Mark Rosheim – Paper published with 26 DOF exoskeleton concept.
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Berkeley Exoskeleton • Power source is inbuilt • Has 3 DOF at hip, 1 at knee and 3 at ankle
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Active Orthoses • Early Active Orthoses • Mihailo Pupin Institute Exoskeletons • University of Wisconsin Exoskeleton • Other Full Lower limb Exoskeletons • ActiveModular Orthosis for Lower Limbs project • University of Belgrade and Zotovic Rehabilitation Institute • Mihailo Pupin Institute Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art Active Orthoses (Cont ...)
• MIT Ankle–Foot Orthosis
• University of Michigan Orthoses • Other Ankle–Foot Orthoses • Active Knee Orthoses • Other Orthotic Devices
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art