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    Exo of Many Trades, and Masters All.: International Conference On Robotics and Automation, 2011, Pp. 2178-2183

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    Mark Daniel
    NASA and IHMC are developing a powered lower extremity exoskeleton for applications including mobility assistance, rehabilitation, and exercise. The exoskeleton features torque controllable actuators at the hip and knee and passive joints at the hip. It is designed to accommodate different body sizes and anticipated uses include assisting with walking, loads, stairs, and resistive exercise.

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    Exo of Many Trades, and Masters All.: International Conference On Robotics and Automation, 2011, Pp. 2178-2183

    Uploaded by

    Mark Daniel
    25 views2 pages
    NASA and IHMC are developing a powered lower extremity exoskeleton for applications including mobility assistance, rehabilitation, and exercise. The exoskeleton features torque controllable actuators at the hip and knee and passive joints at the hip. It is designed to accommodate different body sizes and anticipated uses include assisting with walking, loads, stairs, and resistive exercise.

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    Neuhaus

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    NASA and IHMC are developing a powered lower extremity exoskeleton for applications including mobility assistance, rehabilitation, and exercise. The exoskeleton features torque controllable actuators at the hip and knee and passive joints at the hip. It is designed to accommodate different body sizes and anticipated uses include assisting with walking, loads, stairs, and resistive exercise.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    25 views2 pages

    Exo of Many Trades, and Masters All.: International Conference On Robotics and Automation, 2011, Pp. 2178-2183

    Uploaded by

    Mark Daniel
    NASA and IHMC are developing a powered lower extremity exoskeleton for applications including mobility assistance, rehabilitation, and exercise. The exoskeleton features torque controllable actuators at the hip and knee and passive joints at the hip. It is designed to accommodate different body sizes and anticipated uses include assisting with walking, loads, stairs, and resistive exercise.

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    Exo of Many Trades, and Masters All.

    Peter D Neuhaus1, Jerryll H. Noorden1, Roger Rovekamp2, Nick R Payton1, Travis J Craig1
    1
    Institute for Human and Machine Cognition, 2NASA Johnson Space Center

    Preferred Format: Poster.

    1. Introduction thigh, just below the gluteal fold. An adjustable strap


    NASA Johnson Space Center and IHMC are jointly will secure the user’s limb to the cuff structure. The
    developing a powered lower extremity exoskeleton. type of cuff suitable for exercise applications has not
    The focus of this collaboration is to develop a robotic yet been determined, and will be explored once the
    device for a range of applications, including mobility device is functional.
    assistance for abled and disabled users, rehabilitation,
    and exercise. The robot features torque controllable The hip ab/adduction joint will feature free rotating
    actuators at the hip flexion/extension and knee bearings with a gravity counter balancing elastic
    flexion/extension and passive joints to allow for hip element. This elastic element will be preloaded to
    ab/adduction and hip internal/external rotation. The produce an abduction torque to assist the user during
    powered joints will be capable of variable stance and swing. The hip internal/external rotation
    impedance, ranging from zero impedance for joint will initially be only a free bearing and no
    transparent mode to high impedance for stiff position passive components.
    control. The links of the exoskeleton can be adjusted
    to the user’s body size such that the powered joints For mobility assistance (for users with paraplegia and
    are co-located with the user’s joint, creating an paresis), the passive nature of these joints will have
    anthropomorphic structure. to be significantly altered. IHMC’s previous
    exoskeleton, Mina v0 [2], has the hip ab/adduction
    2. Description of Hardware degrees of freedom rigidly constrained. The free
    The targeted uses for the NASA-IHMC Exoskeleton bearings of the NASA-IHMC Exoskeleton at these
    include mobility assistance for abled and disabled joints allow us to explore the effect of adding various
    users, rehabilitation, and exercise. The common levels of passive compliance with the intent of
    feature in all of these activities is a robotic device increasing mobility.
    that is worn over the lower extremities and exerts
    forces and torques in a controlled manner. In The NASA-IHMC Exoskeleton weighs
    operation, the device must assist (or resist in the case approximately 53 pounds, and is tethered for power.
    of exercise) when able and not impede when unable. Adding batteries will be considered at a later stage of
    The key component of the device is the series elastic research. The Mina v0 prototype consumed 100W
    actuator at each powered joint. Building on each while walking over level ground, which translates to
    organization’s years of experience, we have designed approximately 1 kg of battery per hour of walking
    a high-fidelity force controllable actuator capable of operation.
    torques on par with what a healthy adult can produce
    and enough speed for a moderate walking pace. As 3. Anticipated Uses
    with the NASA Robonaut 2 [1] design, the NASA- The NASA-IHMC Exoskeleton will be used as a
    IHMC Exoskeleton features distributed control research platform for exploring a range of
    modules, where all of the motor control and power applications requiring a lower extremity robotic
    amplification will occur adjacent to the respective orthosis. The torque and speed capabilities of the
    actuator. actuators allow the device to provide assistance for
    walking, carrying significant loads, ascending stairs,
    The frame is designed to accommodate males and and high-output resistive exercise. The ability to
    females, from the 5% to the 95% size range. These control the output torque makes the device well
    accommodations will occur at the hip width, thigh suited for applications requiring compliance with the
    length, shank length, and toeing angle. The back plate environment as well as will the user.
    features a lumbar support and shoulder straps to
    firmly connect the user to the device. The leg 4. References
    connection cuffs are application dependent. For [1] M. A. Diftler et al., “Robonaut 2 - The first
    applications in which countering gravity is a majority humanoid robot in space,” in 2011 IEEE
    of the loading, the leg cuffs have a rigid structure at International Conference on Robotics and
    the tibia, just below the knee and on the back of the Automation, 2011, pp. 2178-2183.
    [2] P. D. Neuhaus, J. H. Noorden, T. J. Craig, T.
    Torres, J. Kirschbaum, and J. E. Pratt, “Design and
    evaluation of Mina: A robotic orthosis for
    paraplegics,” in 2011 IEEE International Conference
    on Rehabilitation Robotics, 2011, pp. 1-8.

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