Conferences related to Exoskeletons

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2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)

The conference program will consist of plenary lectures, symposia, workshops and invitedsessions of the latest significant findings and developments in all the major fields of biomedical engineering.Submitted papers will be peer reviewed. Accepted high quality papers will be presented in oral and postersessions, will appear in the Conference Proceedings and will be indexed in PubMed/MEDLINE


2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

AMC2020 is the 16th in a series of biennial international workshops on Advanced Motion Control which aims to bring together researchers from both academia and industry and to promote omnipresent motion control technologies and applications.


2020 IEEE International Conference on Robotics and Automation (ICRA)

The International Conference on Robotics and Automation (ICRA) is the IEEE Robotics and Automation Society’s biggest conference and one of the leading international forums for robotics researchers to present their work.


2019 IEEE International Conference on Industrial Technology (ICIT)

The scope of the conference will cover, but will not be limited to, the following topics: Robotics; Mechatronics; Industrial Automation; Autonomous Systems; Sensing and artificial perception, Actuators and Micro-nanotechnology; Signal/Image Processing and Computational Intelligence; Control Systems; Electronic System on Chip and Embedded Control; Electric Transportation; Power Electronics; Electric Machines and Drives; Renewable Energy and Smart Grid; Data and Software Engineering, Communication; Networking and Industrial Informatics.


2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

robotics, intelligent systems, automation, mechatronics, micro/nano technologies, AI,


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Periodicals related to Exoskeletons

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Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.


Computer Graphics and Applications, IEEE

IEEE Computer Graphics and Applications (CG&A) bridges the theory and practice of computer graphics. From specific algorithms to full system implementations, CG&A offers a strong combination of peer-reviewed feature articles and refereed departments, including news and product announcements. Special Applications sidebars relate research stories to commercial development. Cover stories focus on creative applications of the technology by an artist or ...


Control Systems Technology, IEEE Transactions on

Serves as a compendium for papers on the technological advances in control engineering and as an archival publication which will bridge the gap between theory and practice. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the technology needed to implement control systems from analysis and design through simulation and hardware.


Fuzzy Systems, IEEE Transactions on

Theory and application of fuzzy systems with emphasis on engineering systems and scientific applications. (6) (IEEE Guide for Authors) Representative applications areas include:fuzzy estimation, prediction and control; approximate reasoning; intelligent systems design; machine learning; image processing and machine vision;pattern recognition, fuzzy neurocomputing; electronic and photonic implementation; medical computing applications; robotics and motion control; constraint propagation and optimization; civil, chemical and ...


Industrial Electronics, IEEE Transactions on

Theory and applications of industrial electronics and control instrumentation science and engineering, including microprocessor control systems, high-power controls, process control, programmable controllers, numerical and program control systems, flow meters, and identification systems.


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Xplore Articles related to Exoskeletons

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Anthropomorhic Exoskeleton dual arm/hand telerobot controller

IEEE International Workshop on Intelligent Robots, 1988

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On the March

IEEE Spectrum, 2009

None


The analysis, design and implementation of a model of an exoskeleton to support mobility

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005., 2005

The potential for using an exoskeleton to support mobility has been considered for some time. The paper describes the procedures associated with the analysis, design and implementation of a model for a lightweight design of such an exoskeleton and shows how the integration of motion analysis with modelling supported the development of the concept. It then proceeds to consider the ...


Improving energy consumption in Exoped<sup>®</sup> Lower-limb Exoskeleton by means of Functional Electrical Stimulation

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), 2018

Walking and standing are the two fundamental problems in patients with spinal cord injury. Gait disorders in neurologically disabled people can be treated by various techniques available today. Exoskeleton robots and functional electrical stimulation (FES) are the two important solutions in this field. However, each of them has its own drawback. The patient using an exoskeleton doesn't participate in walking, ...


Kinematics and workspace analysis of an exoskeleton for thumb and index finger rehabilitation

2010 IEEE International Conference on Robotics and Biomimetics, 2010

For the human hand rehabilitation, the palmar opposition is an important function to evaluate the recovery of hand motor capabilities. This paper proposes an exoskeleton-type hand rehabilitation assistive device which is able to be applied to index finger as well as thumb. The kinematics and workspace of index fingertip and thumb-tip are analyzed. The `opposition space' is defined as the ...


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Educational Resources on Exoskeletons

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IEEE.tv Videos

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IEEE-USA E-Books

  • Anthropomorhic Exoskeleton dual arm/hand telerobot controller

    None

  • On the March

    None

  • The analysis, design and implementation of a model of an exoskeleton to support mobility

    The potential for using an exoskeleton to support mobility has been considered for some time. The paper describes the procedures associated with the analysis, design and implementation of a model for a lightweight design of such an exoskeleton and shows how the integration of motion analysis with modelling supported the development of the concept. It then proceeds to consider the implementation of the identified control and operational strategies in model form and how the basic concepts developed are being deployed in support of an implementation of system to support the rehabilitation of the lower limbs.

  • Improving energy consumption in Exoped<sup>®</sup> Lower-limb Exoskeleton by means of Functional Electrical Stimulation

    Walking and standing are the two fundamental problems in patients with spinal cord injury. Gait disorders in neurologically disabled people can be treated by various techniques available today. Exoskeleton robots and functional electrical stimulation (FES) are the two important solutions in this field. However, each of them has its own drawback. The patient using an exoskeleton doesn't participate in walking, in addition, battery consumption is a limiting problem. On the other hand, the muscles fatigue and complexity of joints control should be noticed in functional electrical stimulation. In this paper, in order to solve these problems, combining exoskeleton and FES system is considered. The Exoped® exoskeleton robot which consists of four motors in knee and hip joints is used for implementation of proposed method. For FES quadriceps and hamstring muscles are assumed actuate the knee joint during swing phase. The muscle stimulation is adjusted in a way that the interaction torque between the robot joint and the patient is minimized, i.e., the FES torque assists the robot. In order to show that the approach is efficient, it is implemented on Exoped® by healthy person. Experimental data and simulation results indicate that the proposed method reduces the torque and power output required for knee motors of the exoskeleton compared to walking without FES.

  • Kinematics and workspace analysis of an exoskeleton for thumb and index finger rehabilitation

    For the human hand rehabilitation, the palmar opposition is an important function to evaluate the recovery of hand motor capabilities. This paper proposes an exoskeleton-type hand rehabilitation assistive device which is able to be applied to index finger as well as thumb. The kinematics and workspace of index fingertip and thumb-tip are analyzed. The `opposition space' is defined as the intersection of the workspace of thumb-tip and the index fingertip. A metric, what we call `opposition degree', which is defined as the ratio of volume of opposition space to that of the index fingertip workspace, is proposed to present the available degree of opposition. As an example, the opposition degree of a human hand model is determined. This metric can also used to rate the ergonomic performance of the hand rehabilitation assistive device. This method can be applied to other fingers as well. The opposition simulation experiment is conducted to verify the kinematics of the proposed exoskeleton.

  • Real-time control for an upper-limb exoskeleton robot using ANFIS

    In this paper, we propose a control system based on the Electromyography (EMG) to govern a two-DOF upper-limb exoskeleton robot developed in our laboratory, named as HAMEXO. Achieving real-time control is the main concern for the proposed system. In addition, the adaptive neural fuzzy inference system (ANFIS) is adopted for tackling the coupling present between joints during motion, and also providing the adaptability for various users. Experiments are conducted to verify its feasibility.

  • Evaluation of Gait Phase Detection Methods for Walking Assist Robot

    Lower paralysis interrupts the mobility and depresses quality of life. Some incomplete paraplegia have an ability to walk in rehabilitation. However, incomplete paraplegia consumes larger energy for the gait motion than able- bodied people. Therefore, it is difficult for them to walk a long time. To solve this problem, many walking assist exoskeletons have been developed. In the case of walking assist, assist timing is one of the essential factors. The mismatch of assist timing interferes user's motion, thus it is required to adjust the assist timing. To control the assist timing, gait phase detection methods are used. Gait motion is divided into several phases. Many researchers introduce the gait phase detection method to control the assist timing. However, there is a mismatch between assist torque and ideal torque which is required by the user. There are no researches to evaluate the gait phase detection methods based on the analysis of the transition of assist torque required by the user. The purposes of this research are to propose the novel FSBM and evaluate the gait phase detection methods. In the experiment, a subject walks on the treadmill with wearing knee exoskeleton. The motor of the exoskeleton is controlled by the bilateral controller. Therefore, the assist torque can be adjusted to be suited to the user by manipulating master side motor. After the experiment, the assist torque and detected gait phases of proposed FSBM are compared to the conventional methods.

  • A Lower Extremity Exoskeleton System for Walking Assist

    In this paper, we proposed a lower extremity exoskeleton system for the elderly with poor walking ability. By way of supporting the weight, the burden of lower limbs was reduced. We designed a novel mechanical structure for high torque clutch to reduce the exoskeleton weight. Using non-binding manner, the wear convenience was improved. The system got gait details by the plantar pressure sensor. Combining gait analysis, the system control algorithm is based on force feedback control. The motor drive control used the current proportion integration differentiation (PID) feedback control. The prototype weighs 12.5kg. The support is about 10kg for standing and 3kg for walking.

  • The motion control of lower extremity exoskeleton based on RBF neural network identification

    A lower extremity exoskeleton is designed and a novel control method based on RBF neural network identification is proposed to guarantee the exoskeleton identifies the pilot's motion intention independently. The propose method considers the pilot wearing assistance exoskeleton as an unknown system, and the RBF neural network is employed to identify the system's motion trajectories and the identification results are used as the exoskeleton's desired trajectories. The network's error function is obtained indirectly by the weighted summation of exoskeleton's tracking error and the interaction torque between pilot and exoskeleton. A human-machine system model including the elastic interaction torque is established according to the structural features of the designed one DOF exoskeleton, and then simulation is conducted based on it. The simulation results show the propose control method can identify the pilot's motion intention well and reduce the exoskeleton's drag torque acting on pilot dramatically. When dealing with the measurement noises, this method also shows good robustness. In addition, the exoskeleton can give pilot different tactile feedback through regulating the interaction torque's scale factor.

  • Kinematic analysis and trajectory generation of six joint lower limb orthotic device

    Simulation plays an important role in determining the acceptable results of the design. Therefore kinematic analysis is used to find the spatial parameters which are necessary for gait trajectory planning. Kinematic analysis of six joint lower limb exoskeleton device is done here for motion control study of the exoskeleton device. Simulated results show that the spatial parameters are in acceptable limits in accordance with the joint angles variation. It can also be used to decide the heel strike position along with foot pressure sensor. When considering gait disability, this piece of work strengthens our discernment of complex interaction of lower limb joints and the importance of its mechanics.



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