Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User PDF full book. Access full book title Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User by Roger Bostelman. Download full books in PDF and EPUB format.
Author: Roger Bostelman
Publisher:
ISBN:
Category : Measurement uncertainty (Statistics)
Languages : en
Pages : 0
Get Book Here
Book Description
Proper exoskeleton fit to user impacts the safety of the human robot interaction. Exoskeletons are now being marketed by several manufacturers and yet there are currently no defined methods to measure the exoskeleton fit to the user. This research aims to develop a quantifiable test and measurement framework for evaluating exoskeleton performance, beginning with the tracking of knee kinematics. Key challenges in knee kinematic measurements include the complexity of human biomechanics, the variability of human anthropometry as well as the uncertainty of marker position, relative to underlying skeletal features, as computed by an optical tracking system (OTS). A measurement methodology to assess exoskeleton-to-leg fit based on comparison of knee kinematics between the human and the exoskeleton is proposed. The methodology is based on the use of rigid artifacts to minimize marker motion, and therefore measurement error. Separate artifacts for the exoskeleton and the human limbs enable independent tracking of exoskeleton and knee joint kinematics in order to assess exoskeleton fit to user. A prosthetic test apparatus and a 3D printed human knee model apparatus were also designed and developed to simulate the biomechanics of the human knee. The experimental data from the prosthetic leg test apparatus showed agreement with both the simulated analytical model and the ground truth skeletal structure relative to the artifacts placed on the simulated leg. The reconfigurable artifact was also tested by the researchers to demonstrate how the novel design can be used to track knee kinematics between the human leg and the exoskeleton leg.
Author: Roger Bostelman
Publisher:
ISBN:
Category : Measurement uncertainty (Statistics)
Languages : en
Pages : 0
Get Book Here
Book Description
Proper exoskeleton fit to user impacts the safety of the human robot interaction. Exoskeletons are now being marketed by several manufacturers and yet there are currently no defined methods to measure the exoskeleton fit to the user. This research aims to develop a quantifiable test and measurement framework for evaluating exoskeleton performance, beginning with the tracking of knee kinematics. Key challenges in knee kinematic measurements include the complexity of human biomechanics, the variability of human anthropometry as well as the uncertainty of marker position, relative to underlying skeletal features, as computed by an optical tracking system (OTS). A measurement methodology to assess exoskeleton-to-leg fit based on comparison of knee kinematics between the human and the exoskeleton is proposed. The methodology is based on the use of rigid artifacts to minimize marker motion, and therefore measurement error. Separate artifacts for the exoskeleton and the human limbs enable independent tracking of exoskeleton and knee joint kinematics in order to assess exoskeleton fit to user. A prosthetic test apparatus and a 3D printed human knee model apparatus were also designed and developed to simulate the biomechanics of the human knee. The experimental data from the prosthetic leg test apparatus showed agreement with both the simulated analytical model and the ground truth skeletal structure relative to the artifacts placed on the simulated leg. The reconfigurable artifact was also tested by the researchers to demonstrate how the novel design can be used to track knee kinematics between the human leg and the exoskeleton leg.
Author: Katerina Kabassi
Publisher: Springer Nature
ISBN: 3031440978
Category : Technology & Engineering
Languages : en
Pages : 373
Get Book Here
Book Description
This book summarizes the research findings presented at the 3rd International Conference on Novel & Intelligent Digital Systems (NiDS 2023). NiDS 2023 held in Athens, Greece, during September 28–29, 2023, under the auspices of the Institute of Intelligent Systems. The conference was implemented hybrid, allowing participants to attend it either online or onsite. NiDS 2023 places significant importance on the innovations within intelligent systems and the collaborative research that empowers and enriches artificial intelligence (AI) in software development. It encourages high-quality research, establishing a forum for investigating the obstacles and cutting-edge breakthroughs in AI. The conference is designed for experts, researchers, and scholars in artificial and computational intelligence, as well as computer science in general, offering them the opportunity to delve into relevant, interconnected, and mutually complementary fields. By facilitating the exchange of ideas, the conference strengthens and broadens the network of researchers, academics, and industry representatives.
Author: Visharath Adhikari
Publisher:
ISBN:
Category : Electronic dissertations
Languages : en
Pages : 83
Get Book Here
Book Description
This thesis aims to design a novel task based knee rehabilitation exoskeleton device through kinematic synthesis. In contrast to prevailing research efforts, which attempt to mimic the human limb by assigning each human joint with an equivalent exoskeleton joint (e.g. a hinge joint for the elbow and knee), this thesis provides an alternative systematic approach for the design of exoskeletons to assist the complex 3D motions of the human Knee. With this method, it is not necessary to know the anatomy of the targeted limb, but rather to define the motion of the exoskeleton segments based on its point of attachment to the limb. Good alignment is often difficult and the distances between joints must be adjusted to accommodate the variety of human size. Furthermore, attempting to align each robotic joint axis with its human counterpart assumes that the position of the axis can be accurately known, and that such a fixed axis exists for the range of motion of the joint or set of joints, which is not always the case. In human- exoskeletons synergy, especially in industrial settings and rehabilitation applications, due to the repetitive and strenuous nature of the task, the fit, comfort and usability of these exoskeletons are important for the safety of the user and for the automation of the task. Improper fitting may lead an exoskeleton to move in a way that exceeds the range of movement of the human body and tear muscle ligaments or dislocate joints. In this thesis, to study the motion of the desired clinical trajectories of the human knee, the state-of-the-art of motion capture and data analysis techniques are utilized. The collected experimental kinematic data is used as an input to the kinematic synthesis. Parallel mechanisms with single degree-of-freedom (DOF) are considered to generate the complex 3D motions of the lower leg. An exact workspace synthesis approach is utilized, in which, the parameterized forward kinematics equations of each serial chain are to be converted to implicit equations via elimination. The implicit description of the workspace is made to be a function of the structural parameters of the serial chain, making it easy to relate those parameters to the motion capture data. A prototype of the mechanism has been built using 3D printing technology. And an Electromyography (EMG) signals and Force sensing resistors (FSR) are utilized to implement an assist as needed controller. The EMG signal is captured from the user leg and force sensing resistors (FSR) are applied at the attachment point of the exoskeleton and the leg, this helps to get the amount of force applied by the exoskeleton to the leg as well as for recovery tracking. The assist as needed controller eliminates the need of constant supervision, and hence saves time and reduces cost of the rehabilitation process.
Author: Anthony J. Nejman
Publisher:
ISBN:
Category :
Languages : en
Pages : 116
Get Book Here
Book Description
A mechanical exoskeleton has the capacity to replicate the properties of a pressurized space suit with regards to motion resistance. Using such an exoskeleton for ground based mission training and research provides a lower-cost, less operationally-complex alternative to using a space suit. To that end, NASA is supporting the development of such a device, termed a Space Suit Simulator (S3). The S3 must be designed to allow the wearer the same range of motion allowed in a space suit, and the joints must be actuated to produce the experienced resistive torques. The challenge moving forward is to develop a lower limb (ankle, knee, hip) exoskeleton and then a whole-body exoskeleton that includes multiple interconnected joints with some joints having multiple degree-of-freedom, such as the hip and shoulder. A kinematic design of the lower-body exoskeleton was developed by using Denavit-Hartenberg notation and transformation matrices to derive the Jacobian matrix, which was in turn used to develop a method of testing for singular configurations along a given path of motion. The S3 was tested for singularities while operating through a standard walking gait cycle, and no singularities were uncovered. Translational manipulability of the S3 end effector was analyzed at near-singular configurations along the gait cycle to determine directions of motion which may result in increased joint torques or loss of freedom of motion. A graphical representation of the leg and S3 end effector workspace verified that the S3 allows the human leg to move within the operational envelope anticipated during space suit use. The four degree-of-freedom exoskeleton design eliminates constrictive singularities by aligning human and exoskeleton joint axes. A computational algorithm, based on the Preisach hysteresis model, was used to mimic space suit joint hysteresis behavior in knee flexion and hip abduction/adduction, and it was demonstrated that linear actuators may be used to produce the required joint torque resistance. The kinematic design and computational hysteresis algorithms will support the further development of a physical space suit simulator.
Author: Jacob Rosen
Publisher: Academic Press
ISBN: 0128146605
Category : Science
Languages : en
Pages : 551
Get Book Here
Book Description
Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Author: Jon V. Clarke
Publisher:
ISBN:
Category :
Languages : en
Pages :
Get Book Here
Book Description
Total knee arthroplasty (TKA) is the most widely performed intervention for endstage osteoarthritis (OA) but in spite of limitations in surgical techniques, alignment measurements and clinical outcomes, the expectations of an active, aging population continue to increase. The aim of this thesis was to develop and validate a noninvasive kinematic assessment tool to improve the measurement of knee alignment and ligament laxity. An intra-operative infrared tracking system was adapted for non-invasive use through the development of external mountings that enabled alignment measurements to be made supine, standing and following manual collateral stress. Coronal and sagittal plane mechanical femorotibial (MFT) angle measurement was validated to a precision of approximately ±1° by comparison to a custom made leg model, a flexible electrogoniometer and through repeatability measurements on 30 asymptomatic volunteers. Assessment of coronal laxity was quantified and standardised by controlling lever arm, applied manual load and knee flexion angle. Thirty one patients with end-stage OA were assessed before, during and six weeks following TKA and comparisons were made between invasive and non-invasive MFT angles and between supine and standing conditions. For osteoarthritic knees, varus and valgus angular displacements were greater intraoperatively in comparison to pre-operative non-invasive measurements, whereas invasive and non-invasive stress angles for prosthetic knees showed less variation. From supine to bi-pedal stance, MFT angles most frequently changed to relative varus and extension for all knee types suggesting that soft tissue restraints may be more important than rigid bony or prosthetic architecture for controlling this weightbearing alignment change. The development of a non-invasive infrared (IR) system enabled knee alignment to be quantified as a dynamic parameter in comparison to current static assessment techniques such as radiographs. The generation of subject-specific kinematic profiles could help with the surgical planning and post-operative follow-up of patients undergoing alignment dependent procedures such as TKA.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 63
Get Book Here
Book Description
The measurement of joint kinematics in vivo is an important aspect of the development of new treatment methods for orthopaedic injuries. Existing methods for the measurement of knee joint kinematics are limited by their data collection speeds, expense, and invasiveness. A proposed method uses sonomicrometry crystals mounted on blocks in an arrangement that would establish tibial and femoral coordinate systems. The objectives of this thesis were to: 1) determine the effect of different crystal arrangements and mounting block designs on the measurement of absolute distances using sonomicrometry and 2) determine the effect of mounting block size on the measurement of rotations and translations using sonomicrometry. Sonomicrometry crystals (Sonometrics Corp., London, Ontario) were attached to an electromechanical testing machine and used to measure known distances. The experiment was repeated using different crystal mounting block size, geometry, and composition; as well as with different means of affixing the crystals to the block and different numbers of crystals. These changes will be necessary for the mounting of the crystals in the joint for kinematics measurements. Regression lines were fit to plots of measured versus known distances. In the simplest case, that of two crystals in simple rectangular acrylic blocks, the mean slopes were: 1.01"0.00, 1.01"0.00, and 1.01"0.00 (mean " SEM) and the intercepts were: 0.26"0.02, 0.52"0.02, and -0.35"0.05. Under the various test conditions (mounting block geometry, size and composition; crystal affixation method; and number of active crystals), the maximum change in slope was 0.03 and the maximum change in intercept was 2.08 mm compared to the simplest case. The changes in intercept were attributed to differences between individual crystals and their sensitivity settings. These results indicate that a sonomicrometry system will allow accurate, repeatable measurements of in-vivo joint kinematics if each crystal is calibrated prior to testing. To determine the rotational and translational errors, sonomicrometry crystals were mounted on blocks that established Cartesian coordinate systems. Joint translations were simulated using an electromechanical testing machine, and joint rotations were simulated using a stand with a movable arm. Two different sizes of mounting block were used for this experiment. For translations, mean bias (the mean value of the differences between the mean measurement at a given position and the actual position) was 0.26 mm for the smaller blocks and 0.19 mm for the larger blocks. Mean precision (the mean standard deviation of the measurements) was 0.26 mm for the smaller blocks and 0.29 mm for the larger blocks. For rotations, mean bias was 0.29 with the smaller blocks and 0.285 with the larger blocks. Mean precision was 0.30 with the smaller blocks and 0.23 with the larger blocks. The system using the smaller holder blocks recorded translations and rotations as accurately as the system using larger holder blocks. Smaller blocks are preferred for planned in-vivo studies because of reduced invasiveness. Based on this research, future studies in our laboratory will attempt to capture the 3-D kinematics of the caprine stifle joint during various activities. The animal will then be sacrificed, and a robot will be used to recreate the joint motions ex-vivo. Implantable force and pressure transducers will be used to study the interactions between the structures and the relationships between the forces and kinematics of the joint. The current study indicates that the sonomicrometry system will be adequate for capturing joint kinematics for this proposed research by providing accurate, high speed measurements.
Author: Shaoping Bai
Publisher: Institution of Engineering and Technology
ISBN: 1785613022
Category : Technology & Engineering
Languages : en
Pages : 405
Get Book Here
Book Description
Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc.
Author: Constantine Stephanidis
Publisher: CRC Press
ISBN: 1040088988
Category : Computers
Languages : en
Pages : 488
Get Book Here
Book Description
This book covers user experience methods and tools in designing user‐friendly products and servicesby encompassing widely utilized successful methods, including elicitation, analysis and establishment of requirements, collaborative idea generation with design teams and intended users, prototype testing and evaluation of the user experience through empirical and non‐empirical means. This book • Provides methods and tools tailored for each stage of the design process. • Discusses methods for the active involvement of users in the human‐centered design process. • Equips readers with an effective toolset for use throughout the design process, ensuring that what is created aligns with user needs and desires. • Covers a wide array of research and evaluation methods employed in HCI, from the initiation of the human‐centered development cycle to its culmination. This book is a fascinating read for individuals interested in Human-Computer Interaction research and applications.
Author: José L. Pons
Publisher: John Wiley & Sons
ISBN: 0470987650
Category : Technology & Engineering
Languages : en
Pages : 358
Get Book Here
Book Description
A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
