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Lecture

Exoskeletons: Rehabilitation and Mobility

Description

This lecture covers the use of exoskeletons in rehabilitation and mobility, focusing on the development of devices like the Lokomat, Walk Trainer, and TWIICE. It discusses the benefits of parallel kinematics, the versatility of verticalized systems, and the integration of functional electrical stimulation for gait training. The presentation also explores the biomechanical considerations behind exoskeletons, their historical origins, and the motivations driving their development. Additionally, it delves into the concept of variable impedance in locomotion and the assistance strategies employed in exoskeleton technology.

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Related concepts (30)

Robot kinematics

In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.

Kinematics

Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.

Microsoft PowerPoint

Microsoft PowerPoint is a presentation program, created by Robert Gaskins and Dennis Austin at a software company named Forethought, Inc. It was released on April 20, 1987, initially for Macintosh computers only. Microsoft acquired PowerPoint for about $14 million three months after it appeared. This was Microsoft's first significant acquisition, and Microsoft set up a new business unit for PowerPoint in Silicon Valley where Forethought had been located.

Kinematic chain

In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.

Presentation slide

A slide is a single page of a presentation. Collectively, a group of slides may be known as a slide deck. A slide show is an exposition of a series of slides or images in an electronic device or in a projection screen. Before the advent of the personal computer, a presentation slide could be a 35 mm slide viewed with a slide projector or a transparency viewed with an overhead projector. In the digital age, a slide most commonly refers to a single page developed using a presentation program such as MS PowerPoint, Apple Keynote, Google Slides, Apache OpenOffice or LibreOffice.

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