Journal Article10.1109/TRO.2008.915453
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Aaron M. Dollar,Hugh M. Herr +1 more
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TL;DR: The history and state of the art of lower limb exoskeletons and active orthoses are reviewed and a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature are provided.
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Abstract: In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we review the history and discuss the state-of-the-art of lower limb exoskeletons and active orthoses. We provide a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature, and end with a discussion of the major advances that have been made and hurdles yet to be overcome.
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Citations
Reduction of muscle fatigue by nonpositve power assistance
TL;DR: In this paper, a non-positive power assistance of human motion is proposed to prevent muscle fatigue and muscle injury in nursing-care activities, where only the human motions accompanied by isometric and eccentric muscle contractions are assisted, whereas the motions with concentric contraction require positive power input.
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ADRC for Upper Limb Exoskeleton: A Simulation Study
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Magnetorheological Damper With Variable Displacement Permanent Magnet for Assisting the Transfer of Load in Lower Limb Exoskeleton
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