Wearable Robotics - Exoskeletons
The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for three fundamental applications: a human-amplifier assistive device sharing a portion of the external load with the operator, haptic device, and automatic physiotherapy.
The current research effort with the upper limb exoskeleton is focused on the developing human machine interface (bioport) at the neuromuscular level using EMG (electromyography) signals as the primary command signal to the system. The research effort with the lower limb exoskeleton is focused on developing a semi active system for improving the ability of the operator to carry a payload.
Devices
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Upper-Limb Exoskeleton Prototype 1 The upper-limb first exoskeleton prototype is a one DOF system (elbow joint) aimed to study the feasibility of an EMG bioports. |
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Upper-Limb Exoskeleton Prototype 2 The second upper-limb exoskeleton prototype is a three DOF system (1- elbow; 2 shoulder) aimed to study multiple joint movements using EMG bioports. |
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Upper-Limb Exoskeleton Prototype 3 The third upper-limb exoskeleton prototype composed of two arms with seven DOF each (3 shoulder joint; 1 elbow joint; 3 wrist) aimed to study fully functional multiple joint movements of the human arms. |
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Upper-Limb Exoskeleton Prototype 4 The forth upper-limb exoskeleton prototype composed of two arms with eight DOF each (3 shoulder joint; 1 elbow joint; 3 wrist; 1 DOF hand) aimed to study fully functional multiple joint movements of the human arms. |
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Lower-Limb Exoskeleton Prototype 1 The first lower-limb exoskeleton prototype is a 12 DOF system (6 DOF per leg: 3 hip joint; 1 knee joint; 2 ankle) aimed to assist in carrying a payload. |
Projects
Virtual Worlds / Games With Haptics Utilizing Microsoft Robotic Studio Toolbox
Device: EXO-UL7
Methodology: Robotics Studio - Microsoft
Status: Active Research
The Human Arm Kinematics and Dynamics During Daily Activities Toward a 7 DOF Upper Limb Powered Exoskeleton
Device: Vicon System (Real-Time)
Methodology: Human Subjects -Arm Kinematics / Dynamics
Status: Completed
Performance Hill-Based Model as a Myoprocessor for a Neural Controlled Powered Exoskeleton Arm - Parameters Optimization
Device: various Cybex Strength Machines / Exoskeleton Prototype 3 - Passive Mode
Methodology: Human Subjects - Real-Time Human Muscle Simulation
Status: Completed
Performance Evaluation of a One DOF Myosignal-Based Powered Exoskeleton System
Device: Exoskeleton Prototype 1 - Active Mode (Real-Time)
Methodology: Human Subjects - Real-Time Human Muscle Simulation
Status: Completed
Performances of Hill-Type and Neural Network Muscle Models - Towards a Myosignal Based Exoskeleton
Device: Exoskeleton Prototype 1 - Passive Mode
Methodology: Human Subjects - Off-Line Muscle Modeling / Simulation
Status: Completed
Video Clips
The Powered Exoskeleton Concept
The exoskeleton concept as demonstrated by Lt. Ellen Ripley operating the Caterpillar P-5000 Powered Work Loader in the science fiction movie Aliens
EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system as an assistive device
EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system in a teleopration mode.
EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system operated by a disabled person as an assistive device.
EXO-UL3 - Exoskeleton Prototype 2
The Exoskeleton system as an assistive device
EXO-UL7 - Exoskeleton Prototype 3
The Exoskeleton system degrees of freedom
News
IEEE Spectrum
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The Rise of the Body Bots (PDF 2.7 MB) | Spectrum URL | Projects in the US | Photo Gallery | | EXO-7 - Exoskeleton | Exoskeletons - An Interview with IEEE Spectrum Correspondent Erico Guizzo URL Link - Select Oct. 2005 > Exoskeleton Download the MP3 File |
Local
Santa Cruz Sentinel - UC Santa Cruz engineers build robotic arms to aid physical therapists-
January 18, 2009
Tech Blogs
Biongbiong - Robotic exoskeleton for arms
January 13, 2009
MedGadget - Research Into Smart Therapeutic Exoskeleton
January 13, 2009
Physorg - Medical robotics expert explores the human-machine interface
January 18, 2009
MedGadget - New Robotic Exoskeleton to Amplify the Wearer's Arm Strength
January 13, 2009
Softpedia - Raven, the Mobile Surgical Space Robot
January 14, 2009
Gizmo Watch - Another step towards a bionic man: robotic exoskeleton for arms
January 14, 2009
Gadgetted - Medical robotics expert explores the human-machine interface
January 15, 2009
insciences - Medical robotics expert explores the human-machine interface
January 13, 2009
Medlaunches - medlaunches
Wearable robotic exoskeleton lends mechanized arms to the disabled
January 14, 2009
N+T - Go Go Gadget Cyber Arms
January 14, 2009
MedGadget - Raven, the Mobile Surgical Space Robot
April 20, 2007
Misc. Web Sites
Science News For Kids - Supersuits for Superheroes
Research