D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification rehabilitation. This actuator type has also been implemented in, amongst others, a bilateral prototype reported in Costa and Caldwell (2006) and in an ankle rehabilitation device for stroke patients in combination with springs (spring over muscle actuator) reported in Bharadwaj and Sugar (2006). A different type of pneumatic muscle, the pleated pneumatic artificial muscle, is used in KNEXO, a powered knee exoskeleton controlled by an interaction-oriented trajectory controller (Beyl et al., 2009). Figure 47: Bilateral prototypes: (from left to right) LOPES, PAM/POGO, WalkTrainer Figure 48: Unilateral and single joint prototypes: (from left to right) ALEX, Ankle foot orthoses of University of Michigan, KNEXO, SUE SERKA is an active knee orthosis for gait training focusing on stiff knee gait in stroke patients (Sulzer et al., 2009). It is driven by a rotational series elastic actuator, capable of providing nearly zero to high assistive torque, while keeping the added mass low by means of remote actuation through Bowden cables. AKROD is a knee orthosis with an electro-rheological fluid (ERF) variable damper component to correct hyperextension of the knee and stiff knee gait in stroke patients (Weinberg et al., 2007). Entirely passive systems have been developed as well. The gravity balancing orthosis (GBO) compensates the gravitational torques acting at the hip and the knee of the combined system (orthosis and leg) during swing by means of a dedicated spring mechanism (Banala et al., 2006). SUE is a passive bilateral exoskeleton with torsion springs in the hip and 168
D2.1 Requirements and Specification knee joints optimised for propulsion of the legs during swing in treadmill walking (Mankala et al., 2007). 16.2.2.3 Assistive exoskeletons Also in the field of assistive exoskeletons, a multitude of devices and prototypes have been developed, some of them also envisaged for use in rehabilitation or performance augmentation. The ReWalk (Argo Medical Technologies, Israel) is a bilateral robotic suit for the mobility impaired that is near to being released to the market. Some exoskeletons are specifically aimed at assisting the elderly, such as the walker based exoskeleton EXPOS reported in Kong and Jeon (2006) and its successor SUBAR (Kong et al., 2009), others focus entirely on body weight support, such as the Moonwalker (Krut et al. (2010)) and the Bodyweight Support Assist by Honda. A combination of a quasi-passive exoskeleton with functional electrical stimulation (FES) is proposed in Farris et al. (2009). Many single joint exoskeletons have been developed. The DCO (Hitt et al., 2007) and the AAFO (Blaya and Herr, 2004) are examples of active ankle foot orthoses making use of series-elastic actuators to assist in push-off or to correct dropped foot gait. Figure 49: Assistive exoskeletons: (from left to right) ReWalk., Body Weight Support Assist, SUBAR Figure 50: Power augmenting exoskeletons: (from left to right) BLEEX, Sarcos Exoskeleton, MIT's Quasi-passive Leg Exoskeleton, HAL 16.2.2.4 Human performance augmenting exoskeletons The majority of human performance augmenting exoskeletons for the lower limbs has been designed for load 169
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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