Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 8 of 8 for “"lower body exoskeleton"”.
-
Design and Evaluation of an Underactuated Lower Body Exoskeleton
An underactuated exoskeleton design for walking assistance is presented and evaluated. The exoskeleton uses one motor per leg and makes use of a pantograph to reduce the overall profile and allow the exoskeleton to closely follow the shape of the user's leg. Support is provided between the ball of …
-
Design of an Underactuated Lower Body Exoskeleton Using a Pantograph
… paper presents the design of an underactuated lower body exoskeleton to assist with walking. It reduces the amount of bodyweight going through the user's leg by providing a supporting force to the user that is engaged and disengaged depending on the stage of the gait cycle the user is in. It is …
-
The effect of a lower-Body exoskeleton on physical and cognitive warfighter performance
… carry very heavy equipment into battle; robotic exoskeletons offer a promise to off-load the warfighter. While exoskeletons are currently evaluated for their effects on the user's physical performance, their cognitive effects are not currently considered in the literature. This study analyzed the …
-
Lower body exoskeleton for walking gait assistance and performance augmentation using compliance controlled actuators
… of a new "human friendly" 10-degree of freedom lower bodyexoskeleton for walking gait assistance and also generic human force augmentation. The twinwearable legs are powered by 20 braided pneumatic Muscle Actuators (pMAs); a new, low mass,high power to weight and volume actuation system. In …
-
Mechanical Design of the Legs for OLL-E, a Fully Self-Balancing, Lower-Body Exoskeleton
Exoskeletons show great promise in aiding people in a wide range of applications. One such application is medical rehabilitation and assistance of those with spinal cord injuries. Exoskeletons have the potential to offer several benefits over wheelchairs, including a reduction in the risk of …
-
Modeling, Analysis, and Experimental Validation of an Electric Linear Series Elastic Actuator for an Exoskeleton
Exoskeletons and humanoid robots require high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to …
-
The bioenergetics of walking and running in space suits
… spring-like nature of space suit legs, I built a lower-body exoskeleton to simulate aspects of the current NASA spacesuit, the Extravehicular Mobility Unit (EMU).
-
Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators
A novel hip exoskeleton with six degrees of freedom (DoF) was developed, and multiple prototypes of this product were created in this thesis. The device was an upper level of the 12-DoF lower-body exoskeleton project, which was known as the Orthotic Lower-body Locomotion Exoskeleton (OLL-E). The …