scholarly journals Analysis of a Cam-Follower Mechanism for a Passive Parallel Lower Limb Exoskeleton

2021 ◽  
Vol 2120 (1) ◽  
pp. 012014
Author(s):  
D V Lim ◽  
D T K Tien ◽  
E C Y Chung
Keyword(s):  
Potential Energy ◽  
Lower Limb ◽  
Energy Requirement ◽  
Gravitational Potential Energy ◽  
Walking Gait ◽  
Lower Limb Exoskeleton ◽  
Cam Follower ◽  
Good Potential ◽  
External Power ◽  
Gait Study

Abstract This project focused on the implementation of a novel cam-follower mechanism that was deemed to have good potential for practical application into a passive lower limb exoskeleton to determine its effectiveness in reducing the energy requirement of the user and its ability to match the walking gait of the user. The design of this novel-cam follower mechanism is inspired by the retractable mechanism of a ballpen. The cam follower mechanism was incorporated into a passive lower limb exoskeleton that was available prior to the study. Passive exoskeletons are intended to augment the load carrying capacity of the user through mechanical means instead of relying on external power. The walking gait study was conducted using physical testing. The mechanism was found to cause the user to bend below his natural centre of gravity a couple of times throughout the walking cycle. The user also had to stabilize himself from being rocked from side to side. Energy calculations were likewise conducted to investigate the energy consumption for a full cycle. The interchange among gravitational potential energy, spring potential energy and kinetic energy of the mechanism for a full walking cycle did not indicate possible advantage for the user.

Mechanics of locomotion in lizards.

1997 ◽  
Vol 200 (16) ◽  
pp. 2177-2188 ◽  
Author(s):  
C T Farley ◽  
T C Ko
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Gravitational Potential ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Gravitational Potential Energy ◽  
Lateral Bending ◽  
Walking Gait ◽  
Bending Force

Lizards bend their trunks laterally with each step of locomotion and, as a result, their locomotion appears to be fundamentally different from mammalian locomotion. The goal of the present study was to determine whether lizards use the same two basic gaits as other legged animals or whether they use a mechanically unique gait due to lateral trunk bending. Force platform and kinematic measurements revealed that two species of lizards, Coleonyx variegatus and Eumeces skiltonianus, used two basic gaits similar to mammalian walking and trotting gaits. In both gaits, the kinetic energy fluctuations due to lateral movements of the center of mass were less than 5% of the total external mechanical energy fluctuations. In the walking gait, both species vaulted over their stance limbs like inverted pendulums. The fluctuations in kinetic energy and gravitational potential energy of the center of mass were approximately 180 degrees out of phase. The lizards conserved as much as 51% of the external mechanical energy required for locomotion by the inverted pendulum mechanism. Both species also used a bouncing gait, similar to mammalian trotting, in which the fluctuations in kinetic energy and gravitational potential energy of the center of mass were nearly exactly in phase. The mass-specific external mechanical work required to travel 1 m (1.5 J kg-1) was similar to that for other legged animals. Thus, in spite of marked lateral bending of the trunk, the mechanics of lizard locomotion is similar to the mechanics of locomotion in other legged animals.

scholarly journals Design of a Payload Adjustment Device for an Unpowered Lower-Limb Exoskeleton

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4037
Author(s):  
Junghwan Yun ◽  
Ohhyun Kang ◽  
Hyun-Min Joe
Keyword(s):  
Hip Joint ◽  
Lower Limb ◽  
Dynamic Equation ◽  
Mass Production ◽  
Joint Torque ◽  
Simulation Environment ◽  
Lower Limb Exoskeleton ◽  
Adams Simulation ◽  
Cam Follower

This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam–follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer’s required torque by easily applying it to the cam–follower structure was developed. An exoskeleton dynamic equation that can calculate a person’s required joint torque given the required payload and the wearer’s posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam–follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton.

Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton

2017 ◽  
Author(s):  
Wilian dos Santos ◽  
Samuel Lourenco ◽  
Adriano Siqueira ◽  
Polyana Ferreira Nunes
Keyword(s):  
Lower Limb ◽  
Healthy Subjects ◽  
Motor Primitives ◽  
Lower Limb Exoskeleton

Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation

2019 ◽  
Author(s):  
Miguel D. Sanchez Manchola ◽  
Luis J. Arciniegas Mayag ◽  
Marcela Munera ◽  
Carlos A. Cifuentes Garcia
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Knee Rehabilitation

scholarly journals Energy absorption at lower limb joints in different foot contact strategies while descending stairs

2021 ◽  
Vol 29 ◽  
pp. 433-440
Author(s):  
Hyeong-Min Jeon ◽  
Ki-Kwang Lee ◽  
Jun-Young Lee ◽  
Ju-Hwan Shin ◽  
Gwang-Moon Eom
Keyword(s):  
Knee Joint ◽  
Potential Energy ◽  
Energy Absorption ◽  
Lower Limb ◽  
Mechanical Energy ◽  
Connective Tissues ◽  
Stair Descent ◽  
Young Subjects ◽  
Power And Energy ◽  
Joint Loads

BACKGROUND: Joint loads in different walking strategies during stair descent have been investigated in terms of the joint moment in association with the risk of osteoarthritis. However, the absorption mechanisms of the potential energy loss are not known. OBJECTIVE: This study aims to compare the mechanical energy absorptions in lower limb joints in different initial foot contact strategies. METHODS: Nineteen young subjects walked down on instrumented stairs with two different strategies, i.e., forefoot and rearfoot strike. Power and energy at lower limb joints during stance phase were compared between strategies. RESULTS: Lower limb joints absorbed 73 ± 11% of the potential energy released by descending stairs and there was no difference between strategies. Rearfoot strategy absorbed less energy than forefoot strategy at the ankle joint in the 1st phase, which was compensated mainly by more energy absorption at the knee in the 2nd phase and less energy generation at the hip joints in the 3rd phase. CONCLUSION: The results suggest that a leg absorbs most of the potential energy while descending stairs irrespective of the walking strategies and that any reduction of energy absorption at one joint is compensated by other joints. Greater energy absorption at the knee joint compared to the other joints suggests high burden of knee joint muscles and connective tissues during stair-descent, which is even more significant for the rearfoot strike strategy.

Human-In-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking

2020 ◽  
pp. 1-1
Author(s):  
Zhijun Li ◽  
Kuankuan Zhao ◽  
Longbin Zhang ◽  
Xinyu Wu ◽  
Tao Zhang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Dynamic Walking ◽  
Loop Control ◽  
Human In The Loop ◽  
Lower Limb Exoskeleton
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