A misalignment compensation mechanism for the hip was developed to increase the comfort of the exoskeleton and to hinder movements as little as possible. A purely passive torque source at hip level generates the support needed to unload the lower back.
Coordinator of SPEXOR.
Entries by Jan
Continuus carbon fiber beams which generate support and allow for a large range of motion are used as a back interface. Combined with the torque source at the hip, they generate the torque which reduces the strain on the lower back.
We assessed full body kinematics and spine load components in natural lifting, to find kinematic and support pattern requirements for the SPEXOR actuated exoskeleton. Furthermore, using a benchmark actuated exoskeleton, we investigated how specific actuation control modes interact with subject behavior, and how this affects spine loading.
We assessed to what extent a benchmark exoskeleton reduces spine loading and changes body kinematics during static trunk bending and during lifting. Additionally, we investigated how it affects perceived comfort, effort, performance, and metabolic energy consumption during functional activities such as walking and stair climbing. Based on these data, biomechanical requirements for the spexor passive […]
The SPEXOR monitoring system is now linked with the full-body dynamical model providing insight into the musculoskeletal stress parameters. Further optimization for real-time processing and feedback are being addressed.
The controller for engagement and disengagement of the hip spring is developed. It is based on the probabilistic model of the human motion that classifies whether the user requires the support of the exoskeleton or the exoskeleton should remain disengaged to allow free motion.
At the end of the second year of SPEXOR, the consortium met at Ottobock Healthcare in Vienna on February 26-27, 2018.
We evaluated our optimized stress monitoring system, consisting of pressure insoles and inertial sensors, by comparing its performance to a laboratory grade system in a mock-up of realistic working conditions. Sensor outcomes and resultant low back load measures were compared between systems. The system was found to meet standards in accordance with the previously defined […]
We organized a workshop titled Exoskeleton design through optimization and adaptive control at the IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017) that were held in Birmingham, UK during November 15-17, 2017. The aim of the workshop was to bridge the gap between optimality principles and adaptive control to create a new generation of […]
The consortium successfully presented the progress of their work at the first review meeting at VU Amsterdam, The Netherlands on October 5, 2017.