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282 results for “Exoskeletons”
Mechanics of walking and running up and downhill: A joint-level perspective to guide design of lower-limb exoskeletons
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s -1 ) trials at -8.53º, -5.71º, 0º, 5.71º, and 8.53º grade and five running (2.25 m s -1 ) trials at -5.71º, -2.86º, 0º, 2.86º, and 5.71º grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53º uphill grade ( p < 0.0001) while the hip's contribution increased from 27% to 52% ( p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).
Dataset for "Brain-wide neural recordings in mice navigating physical spaces enabled by a cranial exoskeleton"
<p>Dataset for "Brain-wide neural recordings in mice navigating physical spaces enabled by a cranial exoskeleton"</p>
Text-fig. 3. Pauxillites thaddei sp. nov. a – two complete ventral sides (GMSB 81383 and GMSB 81384) with complete trilobite exoskeleton (Asaphellus sp.). b – complete venter (GMSB 81382) together with part of inner surface of triclaviculate operculum (GMSB 81381). Scale bar 5 mm. in Pauxillites Thaddei A New Lower Ordovician Hyolith From Morocco
Text-fig. 3. Pauxillites thaddei sp. nov. a – two complete ventral sides (GMSB 81383 and GMSB 81384) with complete trilobite exoskeleton (Asaphellus sp.). b – complete venter (GMSB 81382) together with part of inner surface of triclaviculate operculum (GMSB 81381). Scale bar 5 mm.
Figure 4 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 4 - Overview of exoskeleton anchoring to tendon cells and muscles in intramarsupial developmental stages of Porcellio scaber. In prehatching embryos (4A, B) and in premolt marsupial mancas (4C a semithin section and 4D) the connections between the exoskeleton, tendon cells and muscle cells were already established. EX exoskeleton ES ecdysal space NC new cuticle TC tendon cell MC muscle cell.
Figure 5 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 5 - Anchoring junctions between the detached cuticle and the apical part of tendon cells in the prehatching embryo (5A, D, E) and marsupial mancas (5B, C, F) of Porcellio scaber (ultrathin cross-sections). The newly forming cuticle in marsupial mancas, consisting of the epicuticle and pre-ecdysal procuticle, was mechanically connected to tendon cells. Numerous bundles of fibers (arrows) running from tendon cells through the new cuticle and ecdysal space into the detached cuticle are evident. Microtubules were found in close proximity to electron dense plaques at the apical surface of tendon cells. DC detached cuticle NC new cuticle EC epicuticle ES ecdysal space PP pre-ecdysal procuticle TC tendon cell Mt microtubules.
Figure 1 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 1 - A scheme showing the general architecture of the muscle attachment to the epidermis in arthropods (adapted from Mellon 1992, Lai-Fook and Beaton 1998, Bitsch and Bitsch 2002 and Subramanian et al. 2003). Specialized epithelial cells, named tendon cells, are anchored apically to the cuticle and basally to the muscle cell. aAJ apical adherens junction bAJ basal adherens junction icF intracuticular fibers Mf myofilaments Mt microtubules.
Figure 3 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 3 - Myotendinous junction in the dorsal parts of pereonites of premolt adult Ligia italica is an extensive anchoring junction. The entire zigzag folded basal and apical membranes of tendon and muscle cells, respectively, are engaged in this outstanding intercellular mechanical connection (3A). Prominent electron dense cytoplasmic plaques are evident along both cell membranes, separated by a thin layer of extracellular matrix (3B). MC muscle cell TC tendon cell.
Figure 7 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 7 - Myotendinous junction in the Porcellio scaber prehatching embryo (7A, B) and marsupial mancas (7C, D). The cytoplasmic plaque of the anchoring junction at the basal membrane of tendon cell is more lucent and thinner than the accompanying plaque at the apical membrane of the muscle cell in the prehatching embryo (7A, B). Microtubules of the tendon cells are in close proximity to the basal dense plaques. TC tendon cell MC muscle cell Mt microtubules Myf myofilaments.
Figure 2 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 2 - Exoskeleton – muscle attachment in the dorsal parts of pereonites in adult premolt Ligia italica. Overview of the muscle attachment in a specimen with a detached and a newly forming cuticle (2A a semithin section). The new cuticle is extensively connected to the underlying tendon cells already in the early premolt. Fibrous connections running from the apical region of tendon cells through the new pre-ecdysal cuticle and ecdysal space up to the exocuticle of the detached exoskeleton are evident (2B, C). Parallel arrays of microtubules and apical electron dense plaques are characteristic for tendon cells (2D). DC detached cuticle NC new cuticle ES ecdysal space MC muscle cell TC tendon cell Mt microtubules; arrowheads – fibrous connections.
Figure 6 from: Žnidaršič N, Mrak P, Tušek-Žnidarič M, Strus J (2012) Exoskeleton anchoring to tendon cells and muscles in molting isopod crustaceans. ZooKeys 176: 39-53. https://doi.org/10.3897/zookeys.176.2445
Figure 6 - Electron dense plaques (hemidesmosome-like structures) at the apical surface of the tendon cells in the marsupial manca of Porcellio scaber. Electron dense plaques (arrows) are associated with microtubules (Mt) in the cytoplasm of the tendon cell and with the bundles of fibers (F) running through the ecdysal space (ES) on the opposite side. DC detached cuticle NC new cuticle.
Indego® Exoskeleton; Assessing Mobility for Persons With Spinal Cord Injury (SCI).
ClinicalTrials.gov study NCT02202538. IPD Sharing: Not stated. Countries: 1. Publications: 0.
Combining tsDCS and Exoskeleton Gait Training on Spinal Excitability in SCI
ClinicalTrials.gov study NCT02862080. IPD Sharing: UNDECIDED. Countries: 1. Publications: 0.
Evaluating the Indego Exoskeleton for Persons With Hemiplegia Due to CVA
ClinicalTrials.gov study NCT03054064. IPD Sharing: Not stated. Countries: 1. Publications: 0.
Powered Orthotic Exoskeleton Training in Stroke
ClinicalTrials.gov study NCT04241848. IPD Sharing: NO. Countries: 1. Publications: 0.
Safety and Efficacy of State-of-the-Art Exoskeleton Technology to Improve Mobility in Parkinson's Disease
ClinicalTrials.gov study NCT04587193. IPD Sharing: NO. Countries: 1. Publications: 0.
Mobility and Therapeutic Benefits Resulting From Exoskeleton Use in a Clinical Setting (SC140121 Study 1 and 2)
ClinicalTrials.gov study NCT03082898. IPD Sharing: YES. Countries: 1. Publications: 0.
Assistive Hip Exoskeleton Study for Stroke
ClinicalTrials.gov study NCT03924765. IPD Sharing: NO. Countries: 1. Publications: 0.
Clinical Efficacy of Exoskeleton Robot-Assisted Rehabilitation on Lower Limb Functional Recovery in Elderly Patients With Hip Fracture
ClinicalTrials.gov study NCT07323147. IPD Sharing: NO. Countries: 1. Publications: 0.
Clinical Utility of Exoskeleton Robot Training in Patients With Septic Arthritis After a Thermal Injury: A Case Report
ClinicalTrials.gov study NCT05886166. IPD Sharing: NO. Countries: 0. Publications: 3.
Improving Arm Function Using Wearable Exoskeletons
ClinicalTrials.gov study NCT05951491. IPD Sharing: YES. Countries: 0. Publications: 0.
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