Enhancing Mobility With Quasi-Passive Variable Stiffness Exoskeletons

IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Amanda Sutrisno, David J Braun

Abstract

Shoes were invented to provide user comfort using rubber soles, despite marginal improvement in human mobility. Unlike shoes, current lower-limb exoskeletons use fixed stiffness springs to store and recycle energy to improve mobility. However, the maximum kinetic energy a human can accumulate when augmented with a fixed stiffness spring is limited by the maximum deflection and the ability of the limbs to generate force; tying the advantage of fixed stiffness exoskeletons to biological constraints. Here, we propose a method for improving mobility using quasi-passive variable stiffness spring exoskeletons, where the maximum kinetic energy accumulated by a human is independent of the limb deflection and the ability of the limb to generate force. This is achieved by a variable stiffness augmentation of the human, where the exoskeleton does not provide mechanical work. The theoretical advantage provided by this new augmentation method can be useful in demanding tasks, where humans could benefit from increased speed and reduced energy cost of motion.

Citations

Apr 2, 2020·Science Advances·Amanda Sutrisno, David J Braun
Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young

❮ Previous
Next ❯

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Kamran ShamaeiAaron M Dollar
Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Stefano Marco Maria De RossiMaria Chiara Carrozza
Zeitschrift für Hygiene und Infektionskrankheiten; medizinische Mikrobiologie, Immunologie und Virologie
C J TIETZ, R KOEPPE
Zentralblatt für Arbeitsmedizin und Arbeitsschutz
C SCHIRREN
© 2022 Meta ULC. All rights reserved