D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
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<strong>D2.1</strong> <strong>Requirements</strong> <strong>and</strong> <strong>Specification</strong><br />
knee joints optimised for propulsion of the legs during swing in treadmill walking (Mankala et al., 2007).<br />
16.2.2.3 Assistive exoskeletons<br />
Also in the field of assistive exoskeletons, a multitude of devices <strong>and</strong> prototypes have been developed, some<br />
of them also envisaged for use in rehabilitation or performance augmentation. The ReWalk (Argo Medical<br />
Technologies, Israel) is a bilateral robotic suit for the mobility impaired that is near to being released to the<br />
market. Some exoskeletons are specifically aimed at assisting the elderly, such as the walker based<br />
exoskeleton EXPOS reported in Kong <strong>and</strong> Jeon (2006) <strong>and</strong> its successor SUBAR (Kong et al., 2009), others<br />
focus entirely on body weight support, such as the Moonwalker (Krut et al. (2010)) <strong>and</strong> the Bodyweight<br />
Support Assist by Honda. A combination of a quasi-passive exoskeleton with functional electrical stimulation<br />
(FES) is proposed in Farris et al. (2009). Many single joint exoskeletons have been developed. The DCO<br />
(Hitt et al., 2007) <strong>and</strong> the AAFO (Blaya <strong>and</strong> Herr, 2004) are examples of active ankle foot orthoses making<br />
use of series-elastic actuators to assist in push-off or to correct dropped foot gait.<br />
Figure 49: Assistive exoskeletons: (from left to right) ReWalk., Body Weight Support Assist, SUBAR<br />
Figure 50: Power augmenting exoskeletons: (from left to right) BLEEX, Sarcos Exoskeleton,<br />
MIT's Quasi-passive Leg Exoskeleton, HAL<br />
16.2.2.4 Human performance augmenting exoskeletons<br />
The majority of human performance augmenting exoskeletons for the lower limbs has been designed for load<br />
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