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Concept Development (Lower Limb Exoskeletons) - Coggle Diagram
Concept Development (Lower Limb Exoskeletons)
What are they
Allow disabled patients to regain locomotion & recover gait
Allow abled people to perform more tasks beyond abilities of normal human being
types
gait rehab
targeted group: disabled users with neurological disorders / movement impairments
common evaluation parameters
peak joint angle improvement (flexion / extension)
Peak paretic propulsion improvement
energy cost reduction
interlimb propulsion symmetry improvement
gait symmetry improvement
human strength augmentation
human locomotion assistance
targeted group: disabled users with neurological disorders / movement impairments
approaches
end effector design
fixed platform supporting body weight
robotic device moving the foot along a trajectory
exoskeleton design
lower limb attached to robot
actuator at joint level
exoskeleton fixed at treadmill platform
mobile exoskeletons
ankle foot exoskeleton
mitigate ankle spasticity
assist dorsiflexion in swing phase
assist plantarflexion in stance phase
knee exoskeletons
support / stabilise knee joint
assist knee flexion in swing phase
assist knee extension in stance phase
knee ankle foot exoskeleton
full lower body exoskeleton
robotic walker design
walker design
provide body weight support and balance support
commercially available
assistance for paralegic patients
stroke rehab
has predefined gait trajectory
robot is in charge
usually with support