A research original from Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle and Aaron D. Ames
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand.
Muscle force distribution for adaptive control of a humanoid robot arm with r...toukaigi
This document summarizes a research paper about developing an adaptive control method for a humanoid robot arm with bi-articular and mono-articular muscle mechanisms. The researchers used sliding mode control to first determine joint torques, then distributed those torques to muscle forces using a Jacobian matrix. Internal forces were also used to optimize muscle forces so they remained within limits and worked in the middle of their range to reduce fatigue. Dynamic parameters were updated in real-time using a novel method of prediction error to accelerate parameter convergence. The results showed the effectiveness of the proposed method in achieving desired motion and load distribution characteristics.
This document presents the design of an active prosthetic knee. It describes the mechanical system including a ball screw drive mechanism powered by a brushless motor to provide movement. The CAD drawing shows the overall dimensions and angular velocity calculations. It has 12 bearings, 18 screws, and 13 parts. Future work will explore using these technologies to enhance human capabilities beyond injury repair in military and other applications.
A STUDY ON THE MOTION CHANGE UNDER LOADED CONDITION INDUCED BY VIBRATION STIM...csandit
To assist not only motor function but also perception ability of elderly and/or handicapped
persons, the power-assist robots which have perception-assist function have been developed.
These robots can automatically modify the user’s motion when the robot detects inappropriate
user’s motion or a possibility of accident such as collision between the user and obstacles. For
this motion modification in perception-assist, some actuators of power-assist robot are used. On
the other hand, since some elderly persons, handicapped persons or some workers need not use
power-assist function but perception-assist function only, another new concept perception-assist
method was investigated in our previous study. In this perception-assist method, only vibrators
are used for generating motion change with kinesthetic illusion to assist perception-ability only.
In this study, since the perception-assist is often used during tasks under a loaded condition, the
features of motion change under the loaded condition are investigated.
Designof a fully passive prosthetic kneevaasukrishhna
This document presents the design of a knee mechanism for prosthetic limbs to help replicate able-bodied knee moments. The mechanism uses springs, dampers, and other components optimized through determining optimal mechanical coefficients. Preliminary user trials with two subjects in India found the locking mechanism was functional for smooth stance to swing transitions as evaluated through a 2-minute walk test. Future work will focus on further improving the kinematics of stance-swing transition. The goal is to produce highly realistic prosthetics that improve patient confidence.
This document describes the design and mechanics of an active prosthetic knee (APK). It provides details on the motivation, objectives, and design features of the APK. The key points are:
1) The APK aims to provide a cost-effective active prosthetic knee joint with a simple modular design to enable easy maintenance and robust performance.
2) The mechanical design of the APK utilizes aluminum for its lightweight components. It incorporates a ball screw drive mechanism powered by a motor to provide active motion at the knee joint.
3) The APK design is intended to fit a broad range of users through an anthropometric approach and aims to minimize energy depletion during movement.
This document proposes two concepts: 1) A linearly actuated capsule endoscope mechanism to improve upon existing SMA actuated designs. It presents the conceptual design and mathematical modeling of this mechanism. 2) A simulated intestine environment that uses porcine intestine to test capsule designs in physiologically realistic conditions, including peristaltic contractions. It describes a proposed two degree of freedom system using weights and pulleys to actuate fresh intestine and mimic the forces inside the human small intestine. This would allow for improved in-vitro testing of capsule endoscope designs.
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand.
Muscle force distribution for adaptive control of a humanoid robot arm with r...toukaigi
This document summarizes a research paper about developing an adaptive control method for a humanoid robot arm with bi-articular and mono-articular muscle mechanisms. The researchers used sliding mode control to first determine joint torques, then distributed those torques to muscle forces using a Jacobian matrix. Internal forces were also used to optimize muscle forces so they remained within limits and worked in the middle of their range to reduce fatigue. Dynamic parameters were updated in real-time using a novel method of prediction error to accelerate parameter convergence. The results showed the effectiveness of the proposed method in achieving desired motion and load distribution characteristics.
This document presents the design of an active prosthetic knee. It describes the mechanical system including a ball screw drive mechanism powered by a brushless motor to provide movement. The CAD drawing shows the overall dimensions and angular velocity calculations. It has 12 bearings, 18 screws, and 13 parts. Future work will explore using these technologies to enhance human capabilities beyond injury repair in military and other applications.
A STUDY ON THE MOTION CHANGE UNDER LOADED CONDITION INDUCED BY VIBRATION STIM...csandit
To assist not only motor function but also perception ability of elderly and/or handicapped
persons, the power-assist robots which have perception-assist function have been developed.
These robots can automatically modify the user’s motion when the robot detects inappropriate
user’s motion or a possibility of accident such as collision between the user and obstacles. For
this motion modification in perception-assist, some actuators of power-assist robot are used. On
the other hand, since some elderly persons, handicapped persons or some workers need not use
power-assist function but perception-assist function only, another new concept perception-assist
method was investigated in our previous study. In this perception-assist method, only vibrators
are used for generating motion change with kinesthetic illusion to assist perception-ability only.
In this study, since the perception-assist is often used during tasks under a loaded condition, the
features of motion change under the loaded condition are investigated.
Designof a fully passive prosthetic kneevaasukrishhna
This document presents the design of a knee mechanism for prosthetic limbs to help replicate able-bodied knee moments. The mechanism uses springs, dampers, and other components optimized through determining optimal mechanical coefficients. Preliminary user trials with two subjects in India found the locking mechanism was functional for smooth stance to swing transitions as evaluated through a 2-minute walk test. Future work will focus on further improving the kinematics of stance-swing transition. The goal is to produce highly realistic prosthetics that improve patient confidence.
This document describes the design and mechanics of an active prosthetic knee (APK). It provides details on the motivation, objectives, and design features of the APK. The key points are:
1) The APK aims to provide a cost-effective active prosthetic knee joint with a simple modular design to enable easy maintenance and robust performance.
2) The mechanical design of the APK utilizes aluminum for its lightweight components. It incorporates a ball screw drive mechanism powered by a motor to provide active motion at the knee joint.
3) The APK design is intended to fit a broad range of users through an anthropometric approach and aims to minimize energy depletion during movement.
This document proposes two concepts: 1) A linearly actuated capsule endoscope mechanism to improve upon existing SMA actuated designs. It presents the conceptual design and mathematical modeling of this mechanism. 2) A simulated intestine environment that uses porcine intestine to test capsule designs in physiologically realistic conditions, including peristaltic contractions. It describes a proposed two degree of freedom system using weights and pulleys to actuate fresh intestine and mimic the forces inside the human small intestine. This would allow for improved in-vitro testing of capsule endoscope designs.
This document summarizes a research paper presented at the 2015 Florida Conference on Recent Advances in Robotics. The paper discusses the design of an actively powered ankle-foot prosthetic for transtibial amputees. Currently available passive prosthetics do not provide enough power and torque throughout the gait cycle. The proposed design uses a series elastic actuator and uni-directional spring configuration to provide natural ankle motion at a lower cost than existing active prosthetics. Gait modeling and biomechanics data were used to simulate the design and compare its torque-angle curve to that of a natural ankle. The goal is for the design to reduce costs while improving mobility for transtibial amputees.
Muscle Force Control of a Kinematically Redundant Bionic Arm with Real-Time P...toukaigi
This document proposes a new method for controlling a muscle-driven bionic arm that addresses four key challenges: 1) muscle coordination for an over-actuated system, 2) enforcing muscle force constraints, 3) decreasing muscular fatigue by evenly distributing muscle forces, and 4) adapting to modeling errors in real-time. The method models the arm dynamics considering joint and muscle accelerations to construct a set of linear equations with muscle activation as the unknown. A pseudoinverse solution provides initial muscle forces, while the null space is used to distribute forces evenly for anti-fatigue. An estimated model is also included to represent the real model and is updated based on errors to adapt to uncertainties. The method is tested on a bending-stretch
This document describes the design of a passive ankle prosthesis that aims to mimic key aspects of the natural ankle. It is intended to provide energy return during walking that increases with walking velocity. The prosthesis uses a stiffening flexure mechanism to achieve non-linear rotational stiffness similar to the ankle. Testing shows the prototype averages 58.57% of the work of a natural ankle across different walking speeds and is capable of increasing energy return at higher walking velocities, similar to the biological ankle.
ANKLE MUSCLE SYNERGIES FOR SMOOTH PEDAL OPERATION UNDER VARIOUS LOWER-LIMB PO...csandit
This study investigated how ankle muscle activity varies with knee and ankle joint angles during pedal operation in different driving positions. Experiments measured electromyography of ankle muscles during acceleration and overtaking tasks. Results showed muscle activity levels increased as the driving position moved the knee into extension and ankle into plantar flexion. The ratio of biarticular gastrocnemius muscle activity varied depending on knee angle. Smooth pedal operation was achieved through appropriate variation in relative muscle activity based on lower limb posture and pedal angle.
The document describes the design and control of a cheetah robot modeled after the real cheetah. It summarizes that the robot was designed using anatomical analysis of cheetahs, including musculoskeletal structure and four-jointed legs like a cheetah. A bio-inspired neural control system activates pneumatic muscles in the legs to coordinate a bounding gait. Simulation results showed the robot could run 55% faster with 15% longer strides using a scapula structure compared to without one. The robot weighs around 70 kg and aims to achieve the speed and agility of real cheetahs through biomimetic design and control methods.
A Study on 3D Finite Element Analysis of Anterior Cruciate Ligament Behavior ...ijsrd.com
The present study deals with the force and stress distribution within the anteromedial (AM) and posterolateral (PL) bundles of the anterior cruciate ligament (ACL) in response to an anterior tibial load with the knee at full extension was calculated using a validated three dimensional finite element model (FEM) of a human ACL. The interaction between the AM and PL bundles, as well as the contact and friction caused by the ACL wrapping around the bone during knee motion, were included in the model. The AM and PL bundles of the ACL were simulated as incompressible homogeneous and isotropic hyperelastic materials. The validated FEM was then used to calculate the force and stress distribution within the ACL under an anterior tibial load at full extension. The AM and PL bundles shared the force, and the stress distribution was non-uniform within both bundles with the highest stress localized near the femoral insertion site. The contact and friction caused by the ACL wrapping around the bone during knee motion played the role of transferring the force from the ACL to the bone, and had a direct effect on the force and stress distribution of the ACL. This validated model will enable the analysis of force and stress distribution in the ACL in response to more complex loading conditions and has the potential to help design improved surgical procedures following ACL injuries.
Running with a weighted backpack, or rucking, significantly increases knee joint reaction forces compared to running without weight. Researchers had a subject run on a treadmill at 3.35 m/s without weight and 1.79 m/s with a 20.43 kg ruck. Peak knee joint reaction forces were 3,823.5 N without weight and 6,458.8 N with weight, a difference of over 2,600 N. While this study was limited to one subject, it demonstrates that increased load from rucking raises joint forces and can impact military personnel, backpackers, and recreational ruckers.
The study investigated muscle recruitment in the forearm during co-contraction of forearm muscles during gripping and wrist tasks with and without wrist splints. Six subjects performed randomized trials of grip and wrist tasks at varying intensities with and without splints attached. Electromyography data was collected from forearm muscle pairs and a co-contraction index was calculated. Results showed increased co-contraction with splints, particularly at higher force levels, suggesting splints increase joint stiffness but may limit force output. Increased co-contraction was correlated with task intensity and the addition of splints.
Healy and harrison et al. 2014 drop jump emg gluteoFábio Lanferdini
The document summarizes a study that examined the effects of a unilateral gluteal activation protocol on single leg drop jump performance. The study found:
1) Significant differences in contact time, peak ground reaction force, and flight time between the baseline day and when the gluteal exercises were performed, but no difference between the exercise day and a third baseline day, suggesting the improvements were due to practice not the exercises.
2) Using a typical error analysis to examine individual responses, there was no discernible pattern of enhancement or fatigue for any participant from the gluteal exercises.
3) In conclusion, the gluteal activation protocol did not acutely improve single leg drop jump performance beyond potential learning effects
ICVR2013 Workshop: Designing an effective rehabilitation simulationSergi Bermudez i Badia
This is the talk I gave at the International Conference on Virtual Rehabilitation 2013, part of the following workshop: Designing an effective rehabilitation simulation (Gerard Fluet, Wendy Powell, Sergi Bermúdez i Badia, Qinyin Qiu)
After completing this workshop participants should be able to: (1) Outline the process for developing, designing and testing an effective rehabilitation simulation, (2) Describe the process of shaping human movement abilities using simulated activities, (3) Identify variables that need to be considered when designing a rehabilitation activity, (4) Evaluate an open source virtual environment or game for conversion to a rehab activity, (5) Identify the strengths and weaknesses of commercially available software platforms, (6) Describe commonly used metrics to measure simulated movement performance, (7) Describe key features of a rehab activity that can be used to evaluate changes in movement performance. Intended audience: Computer Engineers, Biomedical Engineers, Physical Therapists and Occupational Therapists with less than three years experience in the design and development of simulated rehabilitation activities.
Applied Biomechanics – a multifaceted approach to answering human movement qu...InsideScientific
Experts review the basic principles of biomechanics and how the study of human movement has evolved over time. Presenters highlight examples in applied kinematics, applied kinetics and applied neuromuscular/motor control and demonstrate how methodologies vary depending on the field of study or area of expertise.
A new look at the ball disteli diagram and its relevance to knee proprioceptionWangdo Kim
The document discusses biomechanics research related to the knee joint. It introduces concepts like the instantaneous axis of the knee (IAK) and Ball-Disteli diagram that could provide a reference for implant positioning in osteoarthritic knees. Computational models are presented that use principles like virtual work to predict constraint forces in the knee. Comparisons are made to experimental data. The analysis considers the knee as a perceptual system and aims to characterize its function rather than just its anatomical parts.
This paper of finite element analysis of the rib cage model is applied to recognize stress distributions and to determine the rate of bone fractures(especially for pathologically changed bones). Also to determine the load and stress to occurs on the human rib cage at any accident. Also find the maximum load sustain capacity of human rib cage and according to the load sustain capacity of the human rib cage by finite element analysis and search a material as like a bone cement and it take on a rib fracture and see the result . This paper is only of to nullify the rib fracture as present medical treatment give the elastic belt but due to respiration, the human ribs are contract and relax that’s the rib fracture are only minimize not a nullify. The human models are considered in between age 15 to 40 year. The Simulation result shows a good agreement with the cadaver test data.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the
sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion
pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder isgenerated without the
knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the
shoulder complex about the orientation of the upper arm by interpolating the measurement data. The
shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this
technique improves the quality of character animation.
This document presents the methods for a project modeling human gait using forward and inverse dynamics. It describes creating a 3-body model of the leg consisting of thigh, shank, and foot segments. Kinematic data from Winter et al. will be used to calculate joint positions, velocities and accelerations over the gait cycle. Forward dynamics will be used to model joint torques and forces during gait. Inverse dynamics will then calculate internal joint forces and stresses will be analyzed through finite element analysis. The objectives are to model both a human leg and prosthetic leg, compare their kinematics, forces and validate the results with literature to better understand discrepancies between natural and prosthetic gait.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder is generated without the knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the shoulder complex about the orientation of the upper arm by interpolating the measurement data. The shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this technique improves the quality of character animation.
Control of 3D Printed Ambidextrous Robot Hand Actuated by Pneumatic Artificia...Mashood Mukhtar
This document describes a study that compares three different control methods - PID, bang-bang, and backstepping control - for controlling a uniquely designed ambidextrous robot hand actuated by pneumatic artificial muscles. The robot hand has 13 degrees of freedom and aims to mimic the movement of both left and right hands. Each control method is tested on the robot hand and their performances are evaluated to determine the best controller for such a device. For the first time, the study validates the possibility of controlling a multi-finger ambidextrous robot hand using backstepping control.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand
MINIMIZATION OF METABOLIC COST OF MUSCLES BASED ON HUMAN EXOSKELETON MODELING...ijbesjournal
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
The document describes the design and control of a cheetah robot modeled after the real cheetah. It summarizes that the robot was designed using anatomical analysis of cheetahs, including musculoskeletal structure and four-jointed legs like a cheetah. A bio-inspired neural control system activates pneumatic muscles in the legs to coordinate a bounding gait. Simulation results showed the robot could run 55% faster with 15% longer strides using a scapula structure compared to without one. The robot weighs around 70 kg and aims to achieve the speed and agility of real cheetahs through biomimetic design and neural control.
Designof a fully passive prosthetic kneevaasukrishhna
This document presents the design of a low-cost prosthetic knee mechanism that aims to replicate able-bodied knee motion. It includes three key axes for the mechanism's function and uses springs, dampers, and differential damping to achieve normative kinematics. Preliminary user trials were conducted with two subjects in India to test the mechanism's ability to provide a smooth stance to swing transition. Future work will focus on further optimizing the mechanism's kinematics. The ideal prosthesis would be highly realistic to provide users with self-confidence.
This document summarizes a research paper presented at the 2015 Florida Conference on Recent Advances in Robotics. The paper discusses the design of an actively powered ankle-foot prosthetic for transtibial amputees. Currently available passive prosthetics do not provide enough power and torque throughout the gait cycle. The proposed design uses a series elastic actuator and uni-directional spring configuration to provide natural ankle motion at a lower cost than existing active prosthetics. Gait modeling and biomechanics data were used to simulate the design and compare its torque-angle curve to that of a natural ankle. The goal is for the design to reduce costs while improving mobility for transtibial amputees.
Muscle Force Control of a Kinematically Redundant Bionic Arm with Real-Time P...toukaigi
This document proposes a new method for controlling a muscle-driven bionic arm that addresses four key challenges: 1) muscle coordination for an over-actuated system, 2) enforcing muscle force constraints, 3) decreasing muscular fatigue by evenly distributing muscle forces, and 4) adapting to modeling errors in real-time. The method models the arm dynamics considering joint and muscle accelerations to construct a set of linear equations with muscle activation as the unknown. A pseudoinverse solution provides initial muscle forces, while the null space is used to distribute forces evenly for anti-fatigue. An estimated model is also included to represent the real model and is updated based on errors to adapt to uncertainties. The method is tested on a bending-stretch
This document describes the design of a passive ankle prosthesis that aims to mimic key aspects of the natural ankle. It is intended to provide energy return during walking that increases with walking velocity. The prosthesis uses a stiffening flexure mechanism to achieve non-linear rotational stiffness similar to the ankle. Testing shows the prototype averages 58.57% of the work of a natural ankle across different walking speeds and is capable of increasing energy return at higher walking velocities, similar to the biological ankle.
ANKLE MUSCLE SYNERGIES FOR SMOOTH PEDAL OPERATION UNDER VARIOUS LOWER-LIMB PO...csandit
This study investigated how ankle muscle activity varies with knee and ankle joint angles during pedal operation in different driving positions. Experiments measured electromyography of ankle muscles during acceleration and overtaking tasks. Results showed muscle activity levels increased as the driving position moved the knee into extension and ankle into plantar flexion. The ratio of biarticular gastrocnemius muscle activity varied depending on knee angle. Smooth pedal operation was achieved through appropriate variation in relative muscle activity based on lower limb posture and pedal angle.
The document describes the design and control of a cheetah robot modeled after the real cheetah. It summarizes that the robot was designed using anatomical analysis of cheetahs, including musculoskeletal structure and four-jointed legs like a cheetah. A bio-inspired neural control system activates pneumatic muscles in the legs to coordinate a bounding gait. Simulation results showed the robot could run 55% faster with 15% longer strides using a scapula structure compared to without one. The robot weighs around 70 kg and aims to achieve the speed and agility of real cheetahs through biomimetic design and control methods.
A Study on 3D Finite Element Analysis of Anterior Cruciate Ligament Behavior ...ijsrd.com
The present study deals with the force and stress distribution within the anteromedial (AM) and posterolateral (PL) bundles of the anterior cruciate ligament (ACL) in response to an anterior tibial load with the knee at full extension was calculated using a validated three dimensional finite element model (FEM) of a human ACL. The interaction between the AM and PL bundles, as well as the contact and friction caused by the ACL wrapping around the bone during knee motion, were included in the model. The AM and PL bundles of the ACL were simulated as incompressible homogeneous and isotropic hyperelastic materials. The validated FEM was then used to calculate the force and stress distribution within the ACL under an anterior tibial load at full extension. The AM and PL bundles shared the force, and the stress distribution was non-uniform within both bundles with the highest stress localized near the femoral insertion site. The contact and friction caused by the ACL wrapping around the bone during knee motion played the role of transferring the force from the ACL to the bone, and had a direct effect on the force and stress distribution of the ACL. This validated model will enable the analysis of force and stress distribution in the ACL in response to more complex loading conditions and has the potential to help design improved surgical procedures following ACL injuries.
Running with a weighted backpack, or rucking, significantly increases knee joint reaction forces compared to running without weight. Researchers had a subject run on a treadmill at 3.35 m/s without weight and 1.79 m/s with a 20.43 kg ruck. Peak knee joint reaction forces were 3,823.5 N without weight and 6,458.8 N with weight, a difference of over 2,600 N. While this study was limited to one subject, it demonstrates that increased load from rucking raises joint forces and can impact military personnel, backpackers, and recreational ruckers.
The study investigated muscle recruitment in the forearm during co-contraction of forearm muscles during gripping and wrist tasks with and without wrist splints. Six subjects performed randomized trials of grip and wrist tasks at varying intensities with and without splints attached. Electromyography data was collected from forearm muscle pairs and a co-contraction index was calculated. Results showed increased co-contraction with splints, particularly at higher force levels, suggesting splints increase joint stiffness but may limit force output. Increased co-contraction was correlated with task intensity and the addition of splints.
Healy and harrison et al. 2014 drop jump emg gluteoFábio Lanferdini
The document summarizes a study that examined the effects of a unilateral gluteal activation protocol on single leg drop jump performance. The study found:
1) Significant differences in contact time, peak ground reaction force, and flight time between the baseline day and when the gluteal exercises were performed, but no difference between the exercise day and a third baseline day, suggesting the improvements were due to practice not the exercises.
2) Using a typical error analysis to examine individual responses, there was no discernible pattern of enhancement or fatigue for any participant from the gluteal exercises.
3) In conclusion, the gluteal activation protocol did not acutely improve single leg drop jump performance beyond potential learning effects
ICVR2013 Workshop: Designing an effective rehabilitation simulationSergi Bermudez i Badia
This is the talk I gave at the International Conference on Virtual Rehabilitation 2013, part of the following workshop: Designing an effective rehabilitation simulation (Gerard Fluet, Wendy Powell, Sergi Bermúdez i Badia, Qinyin Qiu)
After completing this workshop participants should be able to: (1) Outline the process for developing, designing and testing an effective rehabilitation simulation, (2) Describe the process of shaping human movement abilities using simulated activities, (3) Identify variables that need to be considered when designing a rehabilitation activity, (4) Evaluate an open source virtual environment or game for conversion to a rehab activity, (5) Identify the strengths and weaknesses of commercially available software platforms, (6) Describe commonly used metrics to measure simulated movement performance, (7) Describe key features of a rehab activity that can be used to evaluate changes in movement performance. Intended audience: Computer Engineers, Biomedical Engineers, Physical Therapists and Occupational Therapists with less than three years experience in the design and development of simulated rehabilitation activities.
Applied Biomechanics – a multifaceted approach to answering human movement qu...InsideScientific
Experts review the basic principles of biomechanics and how the study of human movement has evolved over time. Presenters highlight examples in applied kinematics, applied kinetics and applied neuromuscular/motor control and demonstrate how methodologies vary depending on the field of study or area of expertise.
A new look at the ball disteli diagram and its relevance to knee proprioceptionWangdo Kim
The document discusses biomechanics research related to the knee joint. It introduces concepts like the instantaneous axis of the knee (IAK) and Ball-Disteli diagram that could provide a reference for implant positioning in osteoarthritic knees. Computational models are presented that use principles like virtual work to predict constraint forces in the knee. Comparisons are made to experimental data. The analysis considers the knee as a perceptual system and aims to characterize its function rather than just its anatomical parts.
This paper of finite element analysis of the rib cage model is applied to recognize stress distributions and to determine the rate of bone fractures(especially for pathologically changed bones). Also to determine the load and stress to occurs on the human rib cage at any accident. Also find the maximum load sustain capacity of human rib cage and according to the load sustain capacity of the human rib cage by finite element analysis and search a material as like a bone cement and it take on a rib fracture and see the result . This paper is only of to nullify the rib fracture as present medical treatment give the elastic belt but due to respiration, the human ribs are contract and relax that’s the rib fracture are only minimize not a nullify. The human models are considered in between age 15 to 40 year. The Simulation result shows a good agreement with the cadaver test data.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the
sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion
pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder isgenerated without the
knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the
shoulder complex about the orientation of the upper arm by interpolating the measurement data. The
shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this
technique improves the quality of character animation.
This document presents the methods for a project modeling human gait using forward and inverse dynamics. It describes creating a 3-body model of the leg consisting of thigh, shank, and foot segments. Kinematic data from Winter et al. will be used to calculate joint positions, velocities and accelerations over the gait cycle. Forward dynamics will be used to model joint torques and forces during gait. Inverse dynamics will then calculate internal joint forces and stresses will be analyzed through finite element analysis. The objectives are to model both a human leg and prosthetic leg, compare their kinematics, forces and validate the results with literature to better understand discrepancies between natural and prosthetic gait.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder is generated without the knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the shoulder complex about the orientation of the upper arm by interpolating the measurement data. The shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this technique improves the quality of character animation.
Control of 3D Printed Ambidextrous Robot Hand Actuated by Pneumatic Artificia...Mashood Mukhtar
This document describes a study that compares three different control methods - PID, bang-bang, and backstepping control - for controlling a uniquely designed ambidextrous robot hand actuated by pneumatic artificial muscles. The robot hand has 13 degrees of freedom and aims to mimic the movement of both left and right hands. Each control method is tested on the robot hand and their performances are evaluated to determine the best controller for such a device. For the first time, the study validates the possibility of controlling a multi-finger ambidextrous robot hand using backstepping control.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand
MINIMIZATION OF METABOLIC COST OF MUSCLES BASED ON HUMAN EXOSKELETON MODELING...ijbesjournal
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
The document describes the design and control of a cheetah robot modeled after the real cheetah. It summarizes that the robot was designed using anatomical analysis of cheetahs, including musculoskeletal structure and four-jointed legs like a cheetah. A bio-inspired neural control system activates pneumatic muscles in the legs to coordinate a bounding gait. Simulation results showed the robot could run 55% faster with 15% longer strides using a scapula structure compared to without one. The robot weighs around 70 kg and aims to achieve the speed and agility of real cheetahs through biomimetic design and neural control.
Designof a fully passive prosthetic kneevaasukrishhna
This document presents the design of a low-cost prosthetic knee mechanism that aims to replicate able-bodied knee motion. It includes three key axes for the mechanism's function and uses springs, dampers, and differential damping to achieve normative kinematics. Preliminary user trials were conducted with two subjects in India to test the mechanism's ability to provide a smooth stance to swing transition. Future work will focus on further optimizing the mechanism's kinematics. The ideal prosthesis would be highly realistic to provide users with self-confidence.
1. Researchers developed a neuromuscular control algorithm for a powered foot-ankle prosthesis based on the "winding filament hypothesis" (WFH) model of muscle contraction.
2. The WFH algorithm was tested during level walking, stair ascent, descent, and backwards walking. Results found the algorithm produced ankle torque profiles similar to an existing controller and human ankle during walking. It also matched profiles of able-bodied individuals during stair ascent with only ankle angle input.
3. Preliminary results found stair descent and backwards walking were limited by mechanical constraints of the prosthesis design. Overall, the bio-inspired WFH algorithm demonstrated more robust control of the prosthesis during different locomotion tasks
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
This document summarizes the mechanical design of SJTU-EX, a lower extremity exoskeleton designed to help soldiers and workers carry heavy loads while walking. Key points:
- SJTU-EX has two pseudo-anthropomorphic legs, with each leg containing four active joints (hip flexion/extension, hip abduction/adduction, ankle flexion/extension, ankle abduction/adduction) and two passive joints (diamond mechanism joints replacing knee).
- Springs are applied to both active and passive joints to store energy during swinging and help support weight during stance phase.
- The parallel diamond mechanism between hip and ankle increases load capacity over series architectures and provides a large workspace.
-
Control of robot-assisted gait trainer using hybrid proportional integral de...IJECEIAES
An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with lower limb problems. It plays an essential role in lower limb rehabilitation and aid for patients, and it can help them improve their physical condition. This paper proposes a hybrid controller for regulating the lower limb exoskeleton of a robot-assisted gait trainer that uses a proportional integral and derivative (PID) controller combined with an iterative learning controller (ILC). The direct current motors at the hip and knee joints are controlled by a microcontroller that uses a preset pattern for the trajectories. It can learn how to monitor a trajectory. If the trajectory or load is changed, it will be able to follow the change. The experiment showed that the PID controller had the smallest overshoot, and settling time, and was responsible for system stability. Even if there are occasional interruptions, the tracking performance improves with the ILC.
This document presents the design and development of a dual mode EMG-controlled robotic orthosis to assist stroke patients in rehabilitation. The robot can operate in two control modes: 1) using predefined reference trajectories to control joint movement, and 2) using EMG signals to control joint direction. A dynamic model of the robot is derived using Lagrange's equations. The dual mode control system is implemented and tested in simulation and experiments. Results show the robot can successfully be controlled by both reference trajectories and EMG signals to assist in gait rehabilitation for stroke patients.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
The document describes the design of a robotic leg to analyze human leg swing motion from motion capture data. Key points:
- The robotic leg is designed with three degrees of freedom (hip, knee, ankle joints) using servo motors for actuation. It is constructed from aluminum and acrylic to be lightweight.
- Motion capture data of human leg movement is used to control the robotic leg. Inverse kinematics equations are developed to calculate required joint angles from captured position data.
- Testing showed the robotic leg could replicate leg swing motion with average errors of 1.46 degrees at the hip joint, 1.66 degrees at the knee joint, and 0.46 degrees at the ankle joint.
- The
• Designed a Bio Inspired Transfemoral Prosthesis System for the amputes based on Artificial Neural Networks implemented on MATLAB.
• Designed a prototype of a Prosthetic limb and trained the same using Artificial neural networks to replicate the working of the biological Limb.
• An algorithm based on discrete wavelet transforms and was developed to train the neurons in order to respond to the stimuli extracted from the amputated limb using the myoelectric signal (MES) extracted using piezo electric sensors
• Matlab was used to implement the 3 layer Neural network and the Neural network was trained using the Levenberg-Marquardt (LM) Algorithm for classification of the signals.
• The classified signal was then transmitted to a Micro controller to control the movement of the limb, servo motors were used to control the positioning of the limb to great accuracy.
• The design was implemented minimizing the weight to a great extent with great amount of flexibility and control.
• Its main application is for the amputes to live a natural life.
International Journal on Cybernetics & Informatics (IJCI) Vol. 4, No. 2, Apr...IJCI JOURNAL
rom past few decades prosthetics is aiding in impr
oving the life style of the amputees. The major asp
ect of
concern in the existing prosthetic technology is co
ntrolling the speed of the prosthetic leg. The stan
ce phase
control of prosthetic can be achieved, but it is fo
und to fail at varying speeds. This works concentra
tes on
the pathway to control and vary the torques of the
prosthetic leg using the Bluetooth interface. The
programmed Aurdino is connected to a Bluetooth of t
he smart device and can be operated at varying
speeds thus overcoming the identified drawback. An
algorithm for developed process is also generated f
or
effective understanding and application
This document describes the design of a mechanical link system to generate the motion of a normal human gait pattern for lower extremity rehabilitation. Key points:
- A two degree-of-freedom pendulum system is used for each leg, with frames connected to wheels that rotate at a constant speed to drive the system.
- Optimization is used to select link lengths and joint positions to minimize the error between the generated and desired gait patterns.
- The link system is intended to guide patient movement for rehabilitation without direct actuation or control at the joints, relying instead on elastic components between the system and patient.
- This design aims to provide gait pattern guidance mechanically without active control systems, reducing
DEVELOPMENT OF MOTION CONTROL ALGORITHM FOR LOWER LIMB EXOSKELETONE WITH SIMU...DAXESHPATEL81
‘Exoskeleton’ can be interpreted into two different terms Exo-
meaning the external and ‘skeleton’- meaning rigid structure for any living organisms.
Exoskeletons are used to perform task which are usually beyond the boundaries of
human in their comfort environment. The exoskeletons can either be autonomous or
operator depended on the task to be fulfilled. Usually an ideal exoskeleton should be
able to perform any tasks which are done by human but with greater capacity and
durability. As our topic being one of the most fancy and fiction like equipment it has
been able to draw much wider attention than any other in the field of Robotics. But
such a topic composes two very different fields of Applied Sciences – Robotics and
Biology. In order to fully utilize these fields in development of Exoskeleton one must
possess a keen knowledge of all aspects of these both separate fields. So a new
Branch of Applied sciences has been introduced called ‘Bionics’
DEVELOPMENT OF MOTION CONTROL ALGORITHM FOR LOWER LIMB EXOSKELETONE WITH SIMU...DAXESHPATEL81
‘Exoskeleton’ can be interpreted into two different terms Exo-
meaning the external and ‘skeleton’- meaning rigid structure for any living organisms.
Exoskeletons are used to perform task which are usually beyond the boundaries of
human in their comfort environment. The exoskeletons can either be autonomous or
operator depended on the task to be fulfilled. Usually an ideal exoskeleton should be
able to perform any tasks which are done by human but with greater capacity and
durability. As our topic being one of the most fancy and fiction like equipment it has
been able to draw much wider attention than any other in the field of Robotics. But
such a topic composes two very different fields of Applied Sciences – Robotics and
Biology. In order to fully utilize these fields in development of Exoskeleton one must
possess a keen knowledge of all aspects of these both separate fields. So a new
Branch of Applied sciences has been introduced called ‘Bionics’
The document summarizes the design of a prosthetic ankle. It discusses the goals of providing natural motion, handling heavy users, and being affordable. Literature on ankle biomechanics and early prosthetic designs is reviewed, including ball-and-socket and hinge joints. Current models often incorporate hydraulic dampers, springs, or locking mechanisms. The group decided on a ball-and-socket joint with springs to mimic an ankle's wide range of motion and dampen impacts. Design requirements include supporting 450 pounds and matching biomechanical metrics.
This study tested the hypothesis that orthotic intervention would significantly alter the coronal and transverse plane kinematics of the lower extremities during cycling, with larger wedge inclinations having a greater influence. The study found that orthotic devices with varus wedge inclinations of 1.5mm, 3.0mm, and 4.5mm did not significantly influence the three-dimensional kinematics of the hip, knee, or ankle at any of the three tested cadences of 70, 90, and 110 RPM. Subjective ratings showed a clear preference for no orthotic over the varus wedge inclinations. This suggests that foot orthoses do not provide protection from skeletal malalignment issues associated with chronic cycling injuries.
This document proposes using an adaptive neuro-fuzzy inference system (ANFIS) to control the damping value of a prosthetic limb. It summarizes previous research on prosthetic limb control that used techniques like magnetorheological damping and microprocessor algorithms. The proposed system would use ANFIS for intelligent control of damping value. ANFIS combines fuzzy logic and neural networks. It would allow the prosthesis to adapt damping based on gait recognition using past experiences stored in patterns identified through principle component analysis. The goal is to automatically adapt damping for different activities like lifting loads, unlike previous methods that focused only on level walking.
Ipsos, empresa de investigación de mercados y opinión pública, divulgó su informe N°29 “Claves Ipsos” correspondiente al mes de abril, que encuestó a 800 personas con el fin de identificar las principales opiniones y comportamientos de las y los ciudadanos respecto de temas de interés para el país. En esta edición se abordó la a Carabineros de Chile, su evaluación, legitimidad en su actuar y el asesinato de tres funcionarios en Cañete. Además, se consultó sobre el Ejército y la opinión respecto de la marcha en Putre.
Desafíos y Oportunidades de la Educación Media Técnico Profesional en Chil...Emisor Digital
Fundación País Digital, en conjunto con Accenture, están lanzando el estudio Desafíos y Oportunidades de la Educación Media Técnico Profesional en Chile,
Conocer la percepción de 22 mil personas en 29 países del mundo sobre temas como la meritocracia, la desigualdad y la discriminación en la sociedad, fue el objetivo del estudio internacional “Índice de Igualdad 2024” que recientemente lanzó Ipsos.
¿De qué depende el éxito para los chilenos?
¿Qué significa una sociedad justa para los chilenos?
¿Quién tiene la responsabilidad para reducir la desigualdad?
Ipsos - Miradas Globales sobre la IA y la desinformación.pdfEmisor Digital
La empresa de estudios de mercado Ipsos publicó su más reciente informe, llamado “Miradas Globales sobre la I.A y Desinformación”, con una muestra superior a las 21 mil personas en 29 países, incluido Chile, donde se muestra la percepción de los riesgos de la desinformación en la era de la Inteligencia Artificial Generativa.
Consolidating the Recovery, Seizing Green Growth Opportunities.pdfEmisor Digital
De acuerdo a lo expuesto en un nuevo Informe del Banco Mundial denominado “Consolidating the Recovery, Seizing Green Growth Opportunities”, las economías de América Latina y el Caribe (ALC) están en camino de recuperarse de la crisis derivada de la peste china covid19, pero las complicaciones de la pandemia permanecen y la necesidad de un crecimiento más dinámico, inclusivo y sostenible es cada vez más urgente.
analisis-descriptivo-del-impacto-de-la-pandemia-sobre-las-empresas-en-chile-v...Emisor Digital
El presente estudio tiene por objetivo analizar descriptivamente cómo la pandemia afectó a las empresas en Chile, empleando para ello información tributaria de contribuyentes de primera categoría para los años 2019 y 2020.
Boletín covid-19-(septiembre-a-diciembre-2021)Emisor Digital
El boletín complementario número 9 trata sobre las remuneraciones y el costo de la mano de obra. Se analizan los salarios mínimos vigentes en el país y las cargas sociales que deben asumir los empleadores. Además, se incluyen tablas con los valores de las remuneraciones mínimas por sector y categoría ocupacional.
Este documento presenta los resultados de un estudio que analizó la calidad nutricional y seguridad de diferentes marcas de carne molida vendidas en Chile. El estudio determinó los contenidos de nitritos, proteínas, grasas, sodio y realizó análisis microbiológicos de las muestras. Los resultados se compararon con la información nutricional declarada en los envases. Adicionalmente, se revisó la información entregada en los envases y se realizó una evaluación ambiental de los mismos.
El resumen analiza la distribución de empresas y trabajadores en la industria manufacturera en la región de O'Higgins. El 4% de la industria manufacturera nacional se encuentra en esta región, concentrando el 7% de los trabajadores del rubro a nivel país. La mayoría de las empresas son pequeñas, aunque la mayor concentración de trabajadores se encuentra en las empresas más grandes. El rubro es altamente masculinizado, con sólo un 20% de trabajadoras. Muchas empresas no planean invertir en capacitación ni conocen los subsidios
El resumen del documento es el siguiente:
1) El sector transporte y almacenamiento en la región de O'Higgins concentra el 4% de las empresas y trabajadores del país.
2) La mayoría de las empresas son pequeñas o microempresas, aunque el mayor número de trabajadores labora en grandes empresas. El rubro es altamente masculinizado.
3) Cerca de la mitad de las empresas de transporte de la región indican operar con dificultades y no existe certeza sobre los cambios futuros en dotación de personal.
Ibm's global ai adoption index 2021 executive summaryEmisor Digital
Almost a third of businesses surveyed in the IBM Global AI Adoption Index 2021 report that they are currently using AI, and 43% say they accelerated their AI rollout due to the COVID-19 pandemic. However, lack of AI skills and increasing data complexity were cited as top challenges. While 74% of companies are exploring or deploying AI, the most common barriers are limited AI expertise, data complexity, and lack of tools to develop AI models. Ensuring AI systems are trustworthy, fair, and can be explained is also critical for businesses.
RADIOGRAFÍA DIGITAL PERSONAS MAYORES: SENIORS TECHEmisor Digital
Conoce los resultados de la primera encuesta digital realizada en Chile, enfocada en la digitalización de las personas mayores de entre 60 y 80 años. Cuáles son sus redes sociales favoritas, para qué han usado más Internet durante la pandemia, cuántos aprendieron a usar aparatos inteligentes, y mucho más.
Informe deuda morosa 2° trimestre 2021 presentaciónEmisor Digital
Este documento presenta los resultados del XXXIII Informe de Deuda Morosa de Equifax Chile correspondiente al segundo trimestre de 2021. El número total de deudores morosos disminuyó un 2,4% con respecto al trimestre anterior totalizando 4.168.777 personas. El valor promedio de la morosidad aumentó un 0,5% realmente en pesos, llegando a $2.015.641. La región de Antofagasta mantuvo la morosidad promedio más alta, seguida por la Región Metropolitana.
Estudio científico de la UV demuestra los beneficios de consumir arándanos an...Emisor Digital
La investigación, realizada por las académicas de la Escuela de Nutrición y Dietética de la Universidad de Valparaíso Ximena Palma y Samanta Thomas, junto al doctor Gonzalo Cruz, del Centro de Neurobiología y Fisiopatología Integrativa (CENFI) y académico del Instituto de Fisiología de la UV, apuntó a evaluar el manejo de la glucosa posprandial (después de las comidas) y la capacidad antioxidante de los arándanos frescos.
Los principales hallazgos del informe son:
1) Los códigos maliciosos son la principal preocupación y causa de incidentes en las empresas latinoamericanas.
2) Los ataques de fuerza bruta al RDP crecieron 704% en 2020 en Latinoamérica.
3) El ransomware se reinventó para ser más agresivo y lucrativo, agregando técnicas como doxing y ataques DDoS.
XXXII Informe Deuda Morosa 1 Trimestre 2021 Dicom EquifaxEmisor Digital
Este documento presenta los resultados del XXXII Informe de Deuda Morosa de la Universidad San Sebastián y Equifax, correspondiente al primer trimestre de 2021. Reporta que el número total de deudores morosos disminuyó un 11,8% respecto al año anterior, totalizando 4.249.723 personas. El valor promedio de la morosidad aumentó un 3,3% en comparación al trimestre anterior, llegando a $2.005.059 pesos. La región de Antofagasta mantuvo la morosidad promedio más alta a nivel regional.
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Gas agency management system project report.pdfKamal Acharya
The project entitled "Gas Agency" is done to make the manual process easier by making it a computerized system for billing and maintaining stock. The Gas Agencies get the order request through phone calls or by personal from their customers and deliver the gas cylinders to their address based on their demand and previous delivery date. This process is made computerized and the customer's name, address and stock details are stored in a database. Based on this the billing for a customer is made simple and easier, since a customer order for gas can be accepted only after completing a certain period from the previous delivery. This can be calculated and billed easily through this. There are two types of delivery like domestic purpose use delivery and commercial purpose use delivery. The bill rate and capacity differs for both. This can be easily maintained and charged accordingly.
Rainfall intensity duration frequency curve statistical analysis and modeling...bijceesjournal
Using data from 41 years in Patna’ India’ the study’s goal is to analyze the trends of how often it rains on a weekly, seasonal, and annual basis (1981−2020). First, utilizing the intensity-duration-frequency (IDF) curve and the relationship by statistically analyzing rainfall’ the historical rainfall data set for Patna’ India’ during a 41 year period (1981−2020), was evaluated for its quality. Changes in the hydrologic cycle as a result of increased greenhouse gas emissions are expected to induce variations in the intensity, length, and frequency of precipitation events. One strategy to lessen vulnerability is to quantify probable changes and adapt to them. Techniques such as log-normal, normal, and Gumbel are used (EV-I). Distributions were created with durations of 1, 2, 3, 6, and 24 h and return times of 2, 5, 10, 25, and 100 years. There were also mathematical correlations discovered between rainfall and recurrence interval.
Findings: Based on findings, the Gumbel approach produced the highest intensity values, whereas the other approaches produced values that were close to each other. The data indicates that 461.9 mm of rain fell during the monsoon season’s 301st week. However, it was found that the 29th week had the greatest average rainfall, 92.6 mm. With 952.6 mm on average, the monsoon season saw the highest rainfall. Calculations revealed that the yearly rainfall averaged 1171.1 mm. Using Weibull’s method, the study was subsequently expanded to examine rainfall distribution at different recurrence intervals of 2, 5, 10, and 25 years. Rainfall and recurrence interval mathematical correlations were also developed. Further regression analysis revealed that short wave irrigation, wind direction, wind speed, pressure, relative humidity, and temperature all had a substantial influence on rainfall.
Originality and value: The results of the rainfall IDF curves can provide useful information to policymakers in making appropriate decisions in managing and minimizing floods in the study area.
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Build the Next Generation of Apps with the Einstein 1 Platform.
Rejoignez Philippe Ozil pour une session de workshops qui vous guidera à travers les détails de la plateforme Einstein 1, l'importance des données pour la création d'applications d'intelligence artificielle et les différents outils et technologies que Salesforce propose pour vous apporter tous les bénéfices de l'IA.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...PriyankaKilaniya
Energy efficiency has been important since the latter part of the last century. The main object of this survey is to determine the energy efficiency knowledge among consumers. Two separate districts in Bangladesh are selected to conduct the survey on households and showrooms about the energy and seller also. The survey uses the data to find some regression equations from which it is easy to predict energy efficiency knowledge. The data is analyzed and calculated based on five important criteria. The initial target was to find some factors that help predict a person's energy efficiency knowledge. From the survey, it is found that the energy efficiency awareness among the people of our country is very low. Relationships between household energy use behaviors are estimated using a unique dataset of about 40 households and 20 showrooms in Bangladesh's Chapainawabganj and Bagerhat districts. Knowledge of energy consumption and energy efficiency technology options is found to be associated with household use of energy conservation practices. Household characteristics also influence household energy use behavior. Younger household cohorts are more likely to adopt energy-efficient technologies and energy conservation practices and place primary importance on energy saving for environmental reasons. Education also influences attitudes toward energy conservation in Bangladesh. Low-education households indicate they primarily save electricity for the environment while high-education households indicate they are motivated by environmental concerns.
DEEP LEARNING FOR SMART GRID INTRUSION DETECTION: A HYBRID CNN-LSTM-BASED MODELijaia
As digital technology becomes more deeply embedded in power systems, protecting the communication
networks of Smart Grids (SG) has emerged as a critical concern. Distributed Network Protocol 3 (DNP3)
represents a multi-tiered application layer protocol extensively utilized in Supervisory Control and Data
Acquisition (SCADA)-based smart grids to facilitate real-time data gathering and control functionalities.
Robust Intrusion Detection Systems (IDS) are necessary for early threat detection and mitigation because
of the interconnection of these networks, which makes them vulnerable to a variety of cyberattacks. To
solve this issue, this paper develops a hybrid Deep Learning (DL) model specifically designed for intrusion
detection in smart grids. The proposed approach is a combination of the Convolutional Neural Network
(CNN) and the Long-Short-Term Memory algorithms (LSTM). We employed a recent intrusion detection
dataset (DNP3), which focuses on unauthorized commands and Denial of Service (DoS) cyberattacks, to
train and test our model. The results of our experiments show that our CNN-LSTM method is much better
at finding smart grid intrusions than other deep learning algorithms used for classification. In addition,
our proposed approach improves accuracy, precision, recall, and F1 score, achieving a high detection
accuracy rate of 99.50%.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons
1. Towards Restoring Locomotion for Paraplegics:
Realizing Dynamically Stable Walking on Exoskeletons
Thomas Gurriet1, Sylvain Finet2, Guilhem Boeris2, Alexis Duburcq2, Ayonga Hereid3, Omar Harib3,
Matthieu Masselin2, Jessy Grizzle3 and Aaron D. Ames1
Abstract—This paper presents the first experimental results
of crutch-less dynamic walking with paraplegics on a lower-
body exoskeleton: ATALANTE, designed by the French start-up
company Wandercraft. The methodology used to achieve these
results is based on the partial hybrid zero dynamics (PHZD)
framework for formally generating stable walking gaits. A direct
collocation optimization formulation is used to provide fast and
efficient generation of gaits tailored to each patient. These gaits
are then implemented on the exoskeleton for three paraplegics.
The end result is dynamically stable walking in an exoskeleton
without the need for crutches. After a short period of tuning
by the engineers and practice by the subjects, each subject was
able to dynamically walk across a room of about 10 m up to a
speed of 0.15 m/s (0.5 km/h) without the need for crutches or
any other kind of assistance.
I. INTRODUCTION
Regaining autonomy in their daily lives through the ability
to walk again is a central aspiration for many people with
lower limb paralysis, i.e. paraplegics. Among the promising
solutions to restore locomotion are robotic devices that fit
around the legs of a user, called lower-limb exoskeletons for
rehabilitation. A comprehensive review of the state-of-the-
art lower-limb exoskeletons can be found in [10]. Research
in this field began in the early 1960s independently at the
Mihailo Pupin Institute in Belgrade [18], [26] and at the Uni-
versity of Wisconsin [15], [24]. The resulting exoskeletons
were able to physically advance the legs of a user, but the
user had to use crutches to maintain balance. Additionally,
there has been a broad body of work on different aspect of
exoskeletons [10], [25], [29] from assistive knee devices [11]
to soft exoskeletons [27]. Throughout the years, in addition to
regaining autonomy, clinical tests showed the health benefits
of walking for paraplegics: improvement of blood circulation,
of respiratory, urinary, and intestinal functions, and positive
psychological effects [20].
Due to the physical and psychological advantages of
exoskeletons, multiple companies have emerged over the past
decade and have started to commercialize their products for
*This work has been conducted under IRB No. 16-0693.
1Thomas Gurriet and Aaron Ames are with the Department of Mechanical
and Civil Engineering, California Institute of Technology, Pasadena, CA
91125. Their work was supported by NSF NRI award 1526519.
2Matthieu Masselin, Sylvain Finet, Guilhem Boeris and Alexis Duburcq
are with Wandercraft, Paris, France.
3Ayonga Hereid, Omar Harib and Jessy Grizzle are with the Department
of Electrical Engineering and Computer Science, Univ. of Michigan, Ann
Arbor, MI 48109. The work of A. Hereid was supported by NSF under
Grant CPS-1239037. The work of J. W. Grizzle was partially supported by
a gift from Ford Motor Company.
Fig. 1: Image of two paraplegic patients walking in the
ATALANTE exoskeleton developed by Wandercraft.
use in rehabilitation centers. Nevertheless, these exoskeletons
still have very limited capabilities: either they require the use
of crutches for balance or direction control, which is tiring
for the user [1], [2], or they provide slow static gaits with
velocities on the order of 0.05 m/s [3]. The ultimate goal
is to have a device that provides fast, robust and dynamic
gaits for safe daily use anywhere. By ”dynamic”, as opposed
to ”static”, we mean that the high level control goal is to
stabilize periodic motions that do not necessarily keep the
center of mass (or even of center of pressure) within a
support polygon of the feet. From an outside perspective,
during a step the exoskeleton is falling forward only to
have the swing foot reach out and catch the user before
beginning the process again. This is the behavior naturally
achieved by humans when they walk, and the objective is
thus to endow exoskeletons with these behaviors. The French
start-up company Wandercraft has emerged with the goal of
designing such devices [5].
2. Hybrid System Model Gait Optimization Simulations
Stable Dynamic Walking
Gait Tunning
Domain graph
Hybrid System
Nominal trajectory
generation
Model data
+
Fig. 2: The methodology developed that yielded dynamically stable exoskeleton walking experimentally for paraplegics.
Recent progress in the field of robotic bipedal locomotion,
both in terms of hardware development and control algorithm
design, is making dynamic locomotion on exoskeletons a
possibility. Of particular note for this work is the the method
of virtual constraints and hybrid zero dynamics (HZD method
for short) which has resulted in dynamic walking on multiple
robots by facilitating the design of gaits that are provably sta-
ble and experimentally realizable; they enforce the unilateral
ground contact as well as friction and input torque bounds
[8], [12], [13], [17], [28]. Virtual constraints are relations
between the joints or links of a device that are induced by
feedback control instead of a physical connection. They thus
induce a reduced-order dynamic model of the hybrid system
that is called the hybrid zero dynamics. The method of HZD
was extended to allow for multi-contact walking for robots
with feet in the context of partial hybrid zero dynamics, or
PHZD for short [7]. PHZD has been successfully realized
to achieve dynamic and efficient locomotion on humanoid
robots with feet [17], [22], [23] and, as a result, is a natural
framework in which to control exoskeletons with the goal of
dynamic and human-like gaits. Quite recently, preliminary
simulation results showed the application of PHZD to the
control of an exoskeleton worn by a paraplegic; see [6] for
details as well as later in the paper.
Wandercraft has designed an exoskeleton, named ATA-
LANTE, which has realized for the first time, using con-
trollers based on the PHZD method, dynamic stable walking
for paraplegics without the use of crutches or any other kind
of assistance (as illustrated in Fig. 1). This paper describes
the formal foundations along with the methodology used
for achieving this performance and presents some promising
experimental results: after a short period of tuning by on-
site engineers and practice by the subjects, each subject was
able to dynamically walk across a room of about 10 m up to
a speed of 0.15 m/s (0.5 km/h). Although it reports results
obtained with patients in clinical settings, it is not a clinical
report of any sort. Therefore, the contributions of this paper
are:
• The application of the PHZD method to the experimental
control of a lower-limb exoskeleton.
• The realization of dynamically stable walking for para-
plegics without the use of crutches or any other kind of
assistance.
The remainder of the paper is organized as follows (fol-
lowing the methodology in Fig. 2). Section II presents a
hybrid model of the human exoskeleton system and the
PHZD framework. This leads to our framework for the design
of stable dynamic walking gaits represented as a nonlinear
optimization problem under constraints. The resolution of this
problem using direct collocation is described in Section III.
Finally, Section IV presents the implementation of the gaits
on the exoskeleton and the experimental results.
II. MATHEMATICAL FOUNDATION
In this section, we summarize our approach for gen-
erating stabilizing controllers for the powered lower-limb
exoskeleton ATALANTE by building upon the (PHZD)-
based theoretical foundation [7]. More precisely, we utilize
the hybrid nature of bipedal locomotion and implement
stable periodic behaviors by enforcing invariant reduced
dimensional manifolds via virtual-constraint-based feedback
controllers. Because in these experiments, the user is not yet
able to use his or her upper body to select the speed of
the gait, the presentation does not require the decentralized
implementation presented in [6].
A. Hybrid System Model
ATALANTE is a lower-limb exoskeleton designed by the
French startup company Wandercraft. It is intended to be used
by paraplegics in medical center settings for rehabilitation.
The exoskeleton has 12 degrees of freedom (6 per leg).
Except for the ankle, where a special mechanism is mounted,
3. (a) Human Exoskeleton Model (b) Kinematic Tree
Fig. 3: Kinematic diagram of the human exoskeleton system.
The green links in (b) are adjustable in length.
each degree of freedom is independently actuated by a brush-
less DC motor. A digital encoder is mounted on each motor
to estimate joint position and velocity. Sensors installed in
the feet allow for impact detection when the feet hit the
ground. The exoskeleton is controlled by a central computer
board running a real-time operating system and in charge of
all high-level computations. The dimensions of ATALANTE
can be easily adjusted to fit the patient through mechanical
adjustments. The patient is secured to the exoskeleton by
means of fasteners located at the ankle, the shin, the thigh,
and the abdomen. ATALANTE is self-powered with a battery
pack.
One key assumption in the current paper1 is that the user’s
legs are rigidly attached to the exoskeleton and there is no
actuation from the human body. The upper human body is
modeled as a single rigid link—ignoring the relative motion
of the waist, neck and arm joints of the human—rigidly
attached to the pelvis of the exoskeleton. The lumped human-
exoskeleton system then can be modeled as a kinematic tree
of rigid links, as shown in Fig. 3. Specifically, we use floating
base coordinates: assuming Rb is a body-fixed reference
frame of the pelvis link with Cartesian position p ∈ R3 and
orientation φ ∈ SO(3) with respect to the world frame R0,
the configuration coordinates, Q, of the system, given as
q = (p,φ,qb) ∈ Q = R3
×SO(3)×Qb, (1)
represents the generalized coordinates of the system. The
body coordinates, qb ∈ Qb, represent the 12 actuated lower-
limb exoskeleton joints—each leg consists of 3 hip joints, 1
knee joint, and 2 ankle joints.
The dynamic behavior of bipedal locomotion is often
characterized as a hybrid system consisting of a series of
continuous phases (e.g., when the leg swings forward) and
discrete events (e.g. when the foot strikes the ground) [14].
In particular, we model the walking behavior of the human
1In [6] we allow the user to control the exoskeleton via upper body
posture; hence an articulated model of a human is used.
exoskeleton system as a hybrid control system (see [6] for
full definition):
H C = {D,U ,S,∆,FG}, (2)
where D ⊆ TQ is a smooth manifold representing the
admissible domain of the states, U is the admissible control
inputs, S ⊂ D is a switching surface, ∆ is the reset map of
the discontinuous dynamics, and FG is the control system
defined on the continuous domain. The definition of each
element of (2) is discussed briefly below.
Continuous Dynamics. For flat-footed walking, the contin-
uous domain D is determined by the planar contact of the
stance foot with the ground. Assuming the ground is rigid, we
will use holonomic constraints to model the contact, i.e., the
position and the orientation of the stance foot link remain
constant during the course of one step. Let µ(q) ∈ R6 be
the collection of stance foot position and orientation, the
kinematic constraint of the foot contact is J(q) ˙q = 0, where
J(q) = ∂µ(q)
∂q is the Jacobian of holonomic constraints.
Given the mass, inertia, and length properties of each link
of the human exoskeleton system, the equation of motion
(EOM) of the continuous dynamics is then determined by the
classical Euler-Lagrange equation and holonomic constraints
of the domain [14], [21]:
D(q) ¨q+H(q, ˙q) = Bu+JT
(q)F (3)
where D(q) is the inertia matrix, H(q, ˙q) = C(q, ˙q) ˙q + G(q)
is the vector containing the Coriolis and gravity term, B is
the actuator distribution matrix, u ∈ U ⊆ R12 is the actuator
inputs vector. The contact wrenches, F, can be calculated
by solving the second order derivative of the holonomic
constraints,
J(q) ¨q+ ˙J(q, ˙q) ˙q = 0, (4)
and (3) simultaneously. Substituting the closed form solution
of F yields the affine control system, FG, given as,
˙x = f(x)+g(x)u, (5)
with x = (q, ˙q) ∈ D being the state of the system.
Discrete Dynamics. When the swing foot hits the ground,
an instantaneous change in contact occurs. We denote the
triggering condition of the event as a guard S ⊂ D. Moreover,
we assume that the impact with the ground is perfectly
plastic. As a consequence, the joint configuration remains the
same during impact, but the joint velocities undergo a discrete
change. More precisely, using the derivation proposed by
Hurmuzlu et al. [19], we get:
˙q+
= I −D−1
(q+
)JT
(q+
)Ξ(q+
)J(q+
) ˙q−
:= ∆˙q(q) ˙q−
,
(6)
where, for simplicity, Ξ(q) = (J(q)D−1(q)JT (q))−1. This
discrete dynamics of the system can be captured as a reset
map, ∆, that maps the pre-impact states to post-impact states:
(q+
, ˙q+
) = ∆(q−
, ˙q−
) :=
q−
∆˙q(q) ˙q− . (7)
4. (a) Periodic Orbit (b) Hybrid Invariance
Fig. 4: Illustration of the hybrid invariant periodic orbit on
the partial hybrid zero dynamics (PHZD) surface. A PHZD
surface is constructed via choosing the proper parameters set
α through optimization.
Moreover, applying the feedback controllers to the hybrid
control system given in (2) yields a hybrid system model,
given as
H = (D,S,∆,F). (8)
with U = /0. In the next section, we introduce virtual con-
straints as a means to synthesize feedback controllers that
realize stable walking of the human exoskeleton system.
B. Partial Hybrid Zero Dynamics
At the core of our controller approach is designing a
set of virtual constraints that modulate the system behavior
in order to achieve certain desired trajectories [7], [28].
Enforcing virtual constraints results in a reduced dimensional
representation of the full order system that captures the
natural dynamics of the robot.
Virtual Constraints. For the particular case of the human
exoskeleton system with actuated ankle joints, we choose the
actual outputs to be a combination of velocity regulating term
ya
1 and position modulating terms ya
2. Specifically, the velocity
regulating term is chosen to be the forward hip velocity with a
constant desired velocity vd, and position modulating outputs
are chosen to represent the synchronized motion of the rest
of the mechanical system. The virtual constraints are defined
as the difference between the actual and desired outputs:
y1(q, ˙q,α) = ya
1(q, ˙q)−vd, (9)
y2(q,α) = ya
2(q)−yd
2(τ(q),α), (10)
where y1 and y2 are relative degree 1 and (vector) relative
degree 2 by definition, yd
2 is a vector of desired trajectories. In
this paper, we use B´ezier polynomials to represent the desired
outputs with α being a set of B´ezier coefficients, and τ(q)
the state-based timing variable for synchronization [6].
Feedback Linearization. With the goal of driving the virtual
constraints in (9) and (10) to zero exponentially, we use the
following feedback control law,
uα,ε
=−A −1 0
L2
f y2(q, ˙q,α)
+
Lf y1(q, ˙q)
2εLf y2(q, ˙q,α)
+
εy1(q, ˙q,α)
ε2y2(q,α)
, (11)
with a control gain ε > 0 and decoupling matrix
A =
Lgya
1(q, ˙q)
LgLf y2(q, ˙q,α)
, (12)
which is invertible due to the specific choice of virtual
constraints. Applying this control law to (5) yields linear
output dynamics of the form:
˙y1 = −εy1, (13)
¨y2 = −2ε ˙y2 −ε2
y2. (14)
Under the control law, the system in (5) renders an invari-
ant reduced dimensional surface, termed as zero dynamics
[28]:
Zα = {(q, ˙q) ∈ D|y1(q, ˙q,α) = 0,
y2(q,α) = 0, ˙y2(q, ˙q,α) = 0}. (15)
Since the velocity ˙q undergoes a jump at impact (6), and vd
is a constant, then the output y1 necessarily undergoes a jump
(see (9)), and the zero dynamics surface cannot be invariant
through impact. Thus, we prefer to ignore this output and
consider the following partial zero dynamics surface, given
by:
PZ α = {(q, ˙q) ∈ D|y2(q,α) = 0, ˙y2(q, ˙q,α) = 0}. (16)
It is straightforward to show that the control law in (11)
renders the partial zero dynamics submanifold invariant, i.e.,
any solution that starts in PZ α remains in PZ α until
reaching a guard [7]. However, it is not necessarily invariant
through impacts. To this end, the set of parameters α is
constrained to be such that the partial zero dynamics is
invariant through impacts. There exists a set of parameters α
so that the submanifold PZ α is impact invariant if
∆(S∩PZ α ) ∈ PZ α (17)
A manifold PZ α is called hybrid invariant if it is invariant
through impacts, and thus the hybrid system in (8) has a
partial hybrid zero dynamics (PHZD), denoted as H |PZ α .
By enforcing partial hybrid zero dynamics, the full order
dynamics of the hybrid system can be captured in a reduced-
dimension dynamical system that is independent of control
inputs. Finding such parameters is typically formulated as a
nonlinear constrained optimization problem [7], [17].
Theorem 1. If the hybrid system H in (8) satisfies (17),
then there exists ε > 0 such that for all ε > ε the feedback
controller (11) yields a periodic orbit O = ι0(OPZ), for
OPZ ⊂ PZ α and ι0 : PZ α → D the canonical embedding,
that is a locally exponentially stable periodic orbit of H .
Importantly, this theorem implies that the robot represented
by the hybrid system H has an exponentially stable walking
gait. Space constraints do not allow for a proof of this result,
but it follows in a straightforward manner from the results of
[7].
Remark 1. Introducing partial zero dynamics not only allows
us to command a constant desired velocity, but also the
evolution of y1 is now solely determined via the linear output
dynamics given in (13) and is independent of τ. This allows
for a driving element that pushes the robot forward regardless
of the state of the phase variable.
5. III. GAIT GENERATION AND SIMULATIONS
Using the PHZD framework described above, we want to
design the desired profile of the virtual constraints that when
enforced leads to a stable walking gait. This is done through
a nonlinear constrained optimization process using direct
collocation. Others ways of solving the optimization can be
used like single shooting methods, but direct collocation was
found to be the fastest and most efficient way to solve this
problem [17]; stable walking gaits are obtained in minutes. In
this section we presents an overview of how we used direct
collocation to obtain stable dynamic walking gaits.
A. Direct Collocation Optimization
Direct collocation methods have been widely used for
trajectory optimization of dynamical systems governed by
ordinary differential equations [9], [16]. In this work, we in-
corporated the virtual constraints based feedback controller in
the direct collocation based trajectory optimization problem.
The PHZD constraint in (17) is enforced at impact, such that
the optimized trajectory is a hybrid invariant periodic orbit.
The end result is a set of parameters α for a stable walking
gait.
The mathematical foundation of the direct collocation
optimization is based on the finite step implicit Runge-Kutta
methods [9]. Specifically, we divide the continuous dynamics
solution into a fixed number of intervals. Let
0 = t0 < t1 < t2 < ··· < tN = TI, (18)
be the discrete time instances, a.k.a., nodes, defined at the
terminal of these intervals, where TI > 0 is the time at
which the swing foot hits the ground. Also, we introduce
xi, ˙xi, ui, and Fi as decision variables of the optimization
problem to approximate the state variables, control inputs,
ground reaction forces of the system at node i, and introduce
α∗ as decision variables for the virtual constraints param-
eters, respectively. Next, we modify the classical Hermite-
Simpson method over time intervals between two neighboring
even nodes. Specifically, the following equality constraints—
termed as defect constraints—are enforced:
˙xi
−3(xi+1
−xi−1
)/2∆ti
+(˙xi−1
+ ˙xi+1
)/4 = 0, (19)
xi
−(xi+1
+xi−1
)/2−∆ti
(˙xi−1
− ˙xi+1
)/8 = 0, (20)
for all i ∈ {1,3,··· ,N − 1}, where ∆ti = ti+1 − ti−1 is the
time interval. If the Lagrangian dynamics in (3) and holo-
nomic constraints in (4) are satisfied at each node, then the
piecewise cubic polynomials that connect all xi represent an
approximated solution of the differential equations in (5) [9],
[17].
Considering that our goal is to find virtual constraints
parameters instead of open-loop trajectories, we incorporate
the feedback controller into the optimization in a way that
is similar to holonomic constraints. Instead of enforcing the
control input ui directly as in (11), we impose equality
constraints on system states such that they satisfy the output
dynamics in (13) and (14). Further, the hybrid invariant
condition in (17) between states at the last and first nodes.
Fig. 5: Simulation of the gait for the exoskeleton with a
dummy inside.
For detailed setup of the optimization problem, we refer the
readers to [6].
In this work, we state the direct collocation based human
exoskeleton gait optimization to minimize the mechanical
cost of Transport (CoT), ΦCoT , of the gait, i.e.,
argmin
z∗
ΦCoT (z) (21)
s.t zmin ≤ z ≤ zmax, (22)
cmin ≤ c(z) ≤ cmax, (23)
where z is the set of all decision variables, and c(z) is a
collection of necessary constraints presented in [17]. Torque
limits and joint position and velocity limits of the ATA-
LANTE are directly enforced as boundary conditions of
decision variables in (22), whereas friction cone and zero
moment constraints of the foot contacts are enforced as
extra physical constraints. In addition, several constraints are
considered in the optimization in order to narrow down the
search space and address certain aspects specific to human-
friendly walking. Impact velocities, ZMP position, CoM
position and torso orientation are an example of the many
constraints that need to be considered.
A challenge arises here, as each patient has a specific mass
distribution and dimensions which lead to unique dynamics
for each individual. In order to accelerate this process, Wan-
dercraft has derived a fast way to recompute the dynamics for
each case, making it possible to rapidly adapt to new patients.
For now, the details of this process must be kept private to
protect the intellectual property of the company. The result
of this process (cf. Fig. 2) is a provably stable walking gait
that minimizes a cost function (eg. energy consumption) and
satisfies all of the desired constraints.
B. Simulation results
Even though the generated gaits are consistent with the
dynamics by design, with collocation optimization, this only
holds at the few specific node points selected for the virtual
constraints. Therefore, in order to verify the validity of these
6. Nominal
trajectory
Filtering
Impact detection
High level control
Tracking
Trajectory tracking
Low Level Hardware
Joints
targets
Current
targets
Actual joints
positions
Feet contact
sensors
Fig. 6: Structure of the control loop.
gaits, a feedback-linearizing controller tracking the nominal
outputs is implemented in a simulation. This way, the full
trajectory of the robot is recovered and the periodicity and
stability of the gait are assessed. The joint positions generated
by these simulations are then used as the nominal joint
trajectories to be tracked on the hardware. Gait tiles simulated
walking gait obtained via this procedure is shown in Fig. 5
with the corresponding phase portrait plotted in Fig. 7 as the
nominal gait (red), prior to modification of the trajectories on
the hardware (shown in blue). The fact that the phase portraits
are periodic orbits imply that a valid periodic walking gait is
generated.
IV. IMPLEMENTATION ON THE EXOSKELETON
The final step of this work is the implementation of the
generated gaits on hardware. This section details some of
the implementation on ATALANTE, and presents the results
obtained with multiple users (1 dummy and 3 paraplegic pa-
tients). Importantly, dynamically stable locomotion is realized
in all cases, and the walking is compared across patients.
A. Implementation of gaits on hardware
In order to translate the gaits obtained in simulation
into actual dynamical walking on hardware, the following
methodology has been followed (as illustrated in Fig. 2).
Adjusting the Exoskeleton dimensions. Since all patients
have different sizes and body shapes, the hardware has been
designed so that certain dimensions can be adjusted (cf.
green links in Fig. 3). Using the measurements made to
generate the patient model, the dimensions of the exoskeleton
are adjusted to align the robot’s joints with the patient’s
joints. This allows to minimize the internal stresses at the
attachment points between the patient and the exoskeleton
arising from the highly hyper-static nature of the human-
exoskeleton mechanism.
Embedded systems structure. The exoskeleton is controlled
by a central computer board running a real-time operating
system and in charge of all high level computations. This
central computer then sends commands to motor controllers
that handle the low-level operation of brushless motors.
Digital encoders are present on all the joints of the exoskele-
ton. IMU’s are located in different parts of the exoskeleton
allowing for a better estimation of the pose of the robot.
Furthermore, sensors are present in the feet and provide a
measurement of the center-of-pressure during walking.
In order to get the exoskeleton to realize the desired
gait, trajectory tracking is implemented (cf. Fig. 6). Given
Fig. 7: Phase portraits for the dummy during 20s of unas-
sisted walking.
one chosen cyclic gait, articular targets for each joints are
generated. These targets are the nominal trajectories of the
joints but modified online based on foot impact detection to
allow for a better transition between steps. These targets are
then sent to a control loop which generates current commands
at the joint level. The current command is then sent to the
motor controller that handles the high-frequency low-level
control of the motor.
Tuning of the trajectory. Finally, the nominal trajectory is
tuned in order to accommodate for the mechanical imper-
fections and asymmetries of the robot. This tuning happens
during a series of walking experiments with a mannequin
until the desired behavior is achieved. Tuning generally
improves the stability and robustness of the gait after a few
trials.
B. Experimental results with a dummy
To evaluate the controllers, experiments are first carried
out using a mannequin or dummy (cf. Fig. 5). As we can
see in Fig. 7, the nominal and target trajectories (in red and
blue respectively) are marginally different after the tuning
and high-level filtering of the nominal trajectories (cf. Fig.
6). The target gait is followed with relatively good accuracy
resulting in stable dynamic walking of the hardware.
C. Experimental results with human subjects
As a result of the successful results obtained with the
dummy, experiments are carried out with paraplegic patients.
Some characteristics of these patients are summarized in
Table I.
Clinical Set-Up. Experiments were conducted in a certi-
fied medical center and approved by the ANSM (French
regulatory administration for health products). To prevent
7. TABLE I: Patients data
Patient Height(m) Weight(kg)
Distance
traveled(m)
speed(m/s)
A 1.80 68 8.9 0.11
B 1.69 80 10.56 0.15
C 1.80 75 9.5 0.13
Fig. 8: Phase portraits for patient A during 60s of unassisted
walking.
injury from a fall, one person is placed at each side of a
patient. In case of loss of balance, the two assistants catch
the exoskeleton by handles on its sides. Furthermore, a safety
cable is attached to the exoskeleton and an overhead rail (or
gantry). This is a secondary means to secure a patient and
prevent a fall. Hence, assistance is provided only in case of
loss of balance. During walking, the exoskeleton and its user
are self stabilized and no outside assistance was given.
Results. As can be seen in the video at [4] and Fig.
9c, crutch-less dynamically stable exoskeleton walking of
paraplegic patients is achieved as a result of the method-
ology developed in this paper. All patients managed to walk
unassisted for the entire length of the room after a few trials
during which a best gait was chosen and then tuned; Table I
includes the speed of walking and distance traveled.
The ability to successfully transfer the formal gaits gener-
ated to hardware is illustrated in Fig. 8 for Patient A, wherein
the nominal (blue) and measured (shaded) trajectories are
consistent throughout the experiment. The motors torques
resulting from tracking the nominal trajectories (cf. Fig. 9b)
are also consistent with simulation. Note that motor-torque
saturations are relatively uncommon as the gaits are designed
to account for all hardware limits. To compare the walking
between patients, a representative selection of phase portraits
for each patient are presented in Fig. 9a; even though the gaits
are not the same (as they have been generated to best suit each
patient), they all display a common fundamental structure.
(a) Selection of phase portraits. The solid lines are the target
trajectories. The shaded regions are the measured joints positions.
(b) Measured motor torques.
(c) Walking tiles of patients A, B and C (in this order from top to
bottom).
Fig. 9: Experimental results for all three patients.
8. This is further illustrated in gait tiles of the patients walking
in the exoskeleton (cf. Fig. 9c). While the dynamic walking
gaits obtained are preliminary, and in no way constitute any
kind of clinical evaluation, the ability to consistently realize
them on patients points toward the validity of the framework
developed.
V. CONCLUSIONS
This paper has demonstrated the first ever experimental
realization of hands-free dynamic walking by subjects with
a lower spine injury. The keys to realizing this were novel
hardware, stiff enough to physically support a subject, pow-
erful enough to move the device’s legs quickly, and novel
control mathematics developed over the past 15 years to allow
bipedal robots to walk stably in uncertain environments and
with imprecise dynamic models. Importantly, these results
concretely mark the first steps toward the vision of restoring
locomotion for paraplegics.
The preliminary results demonstrated very slow walking on
the order of 0.1 m/s. Stable gaits at 0.4 m/s were achieved in
simulation, and such speeds can be expected to be reached
on the current hardware and with patients. Future work will
also provide the ability to stand from a chair, initiate a gait,
stop, turn, and sit in a chair. However, before providing more
gait features, focus will be on improving the basic posture
of the gaits to be more upright and comfortable, with foot
roll and heel strike. Better robustness of the overall closed-
loop system is also a general goal. The hope is that these
future research directions will enable dynamic exoskeleton
locomotion in everyday life settings, from traversing up and
down stairs to walking outdoors in natural environments.
ACKNOWLEDGMENT
The authors would like to thank the entire Wandercraft
team which designed ATALANTE, implemented and tested
the control algorithms both in simulation and in real condi-
tions. Additionally, the authors are grateful to Laurent Praly
and Nicolas Petit, researchers at CAS (Mines ParisTech,
PSL Research University) for their precious scientific support
since the beginning of Wandercraft, and to Koushil Sreenath
at UC Berkeley for collaborative efforts on realizing dynamic
walking on exoskeletons.
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