Search results for "Exoskeleton"
showing 8 items of 8 documents
Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton.
2020
Neurological disorders such as cerebral paralysis, spinal cord injuries[acronym](SCI), and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging [english]affectsaffect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the qual…
Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
2020
Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient’s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler–Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. T…
Let the machine do the work: learning to reduce the energetic cost of walking on a split‐belt treadmill
2019
In everyday tasks such as walking and running, we often exploit the work performed by external sources to reduce effort. Recent research has focused on designing assistive devices capable of performing mechanical work to reduce the work performed by muscles and improve walking function. The success of these devices relies on the user learning to take advantage of this external assistance. Although adaptation is central to this process, the study of adaptation is often done using approaches that seem to have little in common with the use of external assistance. We show in 16 young, healthy participants that a common approach for studying adaptation, split-belt treadmill walking, can be under…
Robotic Rehabilitation and Multimodal Instrumented Assessment of Post-stroke Elbow Motor Functions-A Randomized Controlled Trial Protocol.
2020
Background: The reliable assessment, attribution, and alleviation of upper-limb joint stiffness are essential clinical objectives in the early rehabilitation from stroke and other neurological disorders, to prevent the progression of neuromuscular pathology and enable proactive physiotherapy toward functional recovery. However, the current clinical evaluation and treatment of this stiffness (and underlying muscle spasticity) are severely limited by their dependence on subjective evaluation and manual limb mobilization, thus rendering the evaluation imprecise and the treatment insufficiently tailored to the specific pathologies and residual capabilities of individual patients. Methods: To ad…
Coupling of Structural Additions for the Mitigation of Seismic Response in Existing Buildings
2023
In the present paper, additions in structural steelwork are utilized for giving new life to old buildings in regions characterized by medium/high seismic hazard. Two models are here proposed, i.e.: vertical addition for masonry buildings and lateral addition for r.c. buildings. For the model of vertical addition, the connection between the masonry and steel structures is realized by means of an Intermediate Isolation System (IIS). For the model of lateral addition, an exoskeleton (EXO) is connected to the existing building by means of rigid or flexible and dissipative link. Two buildings, representative of the heterogeneous Italian building stock, are selected as case studies. Parametric an…
Regulation of cuticular hydrocarbon profile maturation by Drosophila tanning hormone, bursicon, and its interaction with desaturase activity
2016
International audience; Shortly after emergence the exoskeleton (cuticle) of adult insects is rapidly expanded, hardened (sclerotized), and pigmented (melanized). In parallel with this process, the oenocytes, which are large polyploid cells located below the abdominal epidermis, secrete onto the cuticle a cocktail of cuticular hydrocarbons (CHs) and waxes. These improve the waterproofing of the cuticle, and also provide important chemosensory and pheromonal cues linked with gender, age, and species differentiation. The hardening and pigmentation of the new cuticle are controlled by the neurohormone, bursicon, and its receptor, encoded by the DLGR2 receptor, rickets (rk); by contrast, little…
2019
Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots-ranging from comp…
Cuticle: Formation, Moulting and Control
1984
The relative rigidity of the arthropod exoskeleton makes it impossible for body size to increase continuously during the postembryonic development of these animals. Once they have hatched from the egg, they grow in steps, passing through a variable number of (larval) stages (Fig. 1 a). Apart from a few exceptions, there are between 3 and 10 such stages in the arachnids, 3–20 in the crustaceans, and 3–10 in the insects. In many cases a metamorphosis stage intervenes (some crustaceans; holometabolous insects) (Fig. 9b, c).