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Multifunctional Actuators Utilizing Magnetorheological Fluids for Assistive Knee Braces
Published in Yunhui Liu, Dong Sun, Biologically Inspired, 2017
Some research groups have developed several wearable assistive knee braces for walking support. The Berkeley Lower Extremity Exoskeleton (BLEEX) was developed (Kazerooni and Steger 2006) to support a human’s walking while carrying a heavy load on his or her back. The Hybrid Assistive Limb (HAL; Kawamoto and Sankai 2002) was developed to help people walk, climb stairs, and carry things around. The RoboKnee (Pratt et al. 2004) provides assistance in climbing stairs and bending the knees while carrying a heavy load. The Wearable Walking Helper (WWH; Nakamura, Saito, and Kosuge 2005) and Walking Power Assist Leg (WPAL; F. Chen et al. 2007) were designed to augment human power during walking based on human–robot interactions. Some companies, including Honda, have also developed assistive walking devices to support bodyweight and reduce the load on the wearer’s legs while walking, climbing stairs, and in a semi-crouching position (Honda 2008).
Human–Machine Force Interactive Interface and Exoskeleton Robot Techniques Based on Biomechanical Model of Skeletal Muscle
Published in Yuehong Yin, Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton, 2020
Berkeley Lower Extremity Exoskeleton (BLEEX): BLEEX is perhaps the most famous exoskeleton robot in DARPA project. The most notable feature is the portable power, which provides it with great mobility. In fact, its designer defined it as the first exoskeleton robot with the function of carrying, meanwhile having self-sufficient power [8].
Kinematic and kinetic functional requirements for industrial exoskeletons for lifting tasks and overhead lifting
Published in Ergonomics, 2020
Kirsten Huysamen, Valerie Power, Leonard O’Sullivan
Farris, Quintero, and Goldfarb (2012) detailed that joint torque and power requirements are the most important requirements in the design of an exoskeleton, as all design decisions propagate from these considerations: joints to be actuated, actuator size and type, transmission type and size, structural considerations, type and design of exoskeleton etc. Addressing the question as to which joints warrant actuation, Zoss and Kazerooni (2006) proposed that only joints requiring substantial positive power of more than 10 W for desired manoeuvres should be actuated. However, the criterion proposed by the authors was to aid the design of a lower limb exoskeleton, which aimed at augmenting the lower limbs so that the wearer is able to carry significant loads easily over various terrains as in the Berkeley Lower Extremity Exoskeleton (BLEEX). No other studies have been sourced advancing this specific question or critiquing the 10 W criterion. A second question relates not to average power, but peak power, and in this respect there is also little guidance for industrial exoskeleton design.