下肢外骨骼系统文献汇总

系统平台

Hardiman

• Handyman to Hardiman
• Hardiman - Wikipedia
• 1965-71 - G.E. Hardiman I Exoskeleton - Ralph Mosher (American) - cyberneticzoo.com

EHPA - DARPA

• Exoskeletons for Human Performance Augmentation (EHPA) A Program Summary.pdf
• Exoskeletons for Human Performance Augmentation (oocities.org)

BLEEX

系统设计

• The Berkeley Lower Extremity Exoskeleton
• Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX) [TMECH]
• On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) [IROS].pdf)
• Design of an electrically actuated lower extremity exoskeleton

控制算法

• That Which Does Not Stabilize, Will Only Make Us Stronger [IJRR]
• On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) [ICRA].pdf)
• Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) [IJRR].pdf)
• Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX) [ICRA]
• System identification for the Berkeley lower extremity exoskeleton (BLEEX) [ICRA]
• Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)

其他资源

• BLEEX演示视频
• BLEEX项目官网

Army Exoskeleton

• Human Universal Load Carrier (HULC) - Army Technology
• Raytheon XOS 2 Exoskeleton, Second-Generation Robotics Suit - Army Technology

MIT-Exoskeleton

• An autonomous, underactuated exoskeleton for load-carrying augmentation
• Development of a lightweight, underactuated exoskeleton for load-carrying augmentation
• A quasi-passive leg exoskeleton for load-carrying augmentation
• Biomimetic design for an under-actuated leg exoskeleton for load-carrying augmentation

HAL

• Predictive control estimating operator’s intention for stepping-up motion by exo-skeleton type power assist system HAL
• Power Assist System HAL-3 for Gait Disorder Person
• Comfortable power assist control method for walking aid by HAL-3
• Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint
• Power assist method for HAL-3 estimating operator’s intention based on motion information

• Power assist method for HAL-3 using EMG-based feedback controller

• Control method of robot suit HAL working as operator’s muscle using biological and dynamical information

• Intention-based walking support for paraplegia patients with Robot Suit HAL

• HAL: Hybrid Assistive Limb Based on Cybernics
• CYBERDYNE株式会社
• HAL演示视频 - YouTube

Dynamic Walking

• Kuo - 2007 - The six determinants of gait and the inverted pend.pdf
• Kuo 和 Donelan - 2010 - Dynamic Principles of Gait and Their Clinical Impl.pdf
• Kuo 等 - 2005 - Energetic Consequences of Walking Like an Inverted.pdf
• Maxwell Donelan 等 - 2001 - Mechanical and metabolic determinants of the prefe.pdf
• Kuo - 2002 - Energetics of Actively Powered Locomotion Using th.pdf
• Kuo - 2001 - A Simple Model of Bipedal Walking Predicts the Pre.pdf
• Donelan 等 - 2004 - Mechanical and metabolic requirements for active l.pdf
• Bauby 和 Kuo - 2000 - Active control of lateral balance in human walking.pdf
• Collins - Dynamic Walking Principles Applied to Human Gait.pdf

Powered Ankle-Foot Orthosis - UMICH

结构与控制

• Ferris 等 - 2005 - An Ankle-Foot Orthosis Powered by Artificial Pneum.pdf
• Ferris et al_2006_An improved powered ankle–foot orthosis using proportional myoelectric control.pdf
• Gordon 等 - 2006 - Mechanical performance of artificial pneumatic mus.pdf
• Kinnaird 和 Ferris - 2009 - Medial Gastrocnemius Myoelectric Control of a Robo.pdf
• Koller et al_2015_Learning to walk with an adaptive gain proportional myoelectric controller for.pdf

生理学研究

• Ferris 等 - 2005 - Powered Lower Limb Orthoses for Gait Rehabilitatio.pdf
• Sawicki 等 - 2005 - Powered Lower Limb Orthoses Applications in Motor.pdf
• Sawicki 等 - 2006 - The effects of powered ankle-foot orthoses on join.pdf
• Cain 等 - 2007 - Locomotor adaptation to a powered ankle-foot ortho.pdf

• Gordon 和 Ferris - 2007 - Learning to walk with a robotic ankle exoskeleton.pdf

• Sawicki 和 Ferris - 2008 - Mechanics and energetics of level walking with robotic ankle exoskeletons.pdf

• Sawicki_Ferris_2009_Mechanics and energetics of incline walking with robotic ankle exoskeletons.pdf
• Sawicki 和 Ferris - 2009 - Powered ankle exoskeletons reveal the metabolic co.pdf

WALL-X - Ghent University

• Malcolm et al_2013_A Simple Exoskeleton That Assists Plantarflexion Can Reduce the Metabolic Cost.pdf
• Galle et al_2017_Reducing the metabolic cost of walking with an ankle exoskeleton.pdf

MIT Autonomous Ankle Exoskeleton

• Mooney et al_2014_Autonomous exoskeleton reduces metabolic cost of human walking during load.pdf
• Mooney et al_2014_Autonomous exoskeleton reduces metabolic cost of human walking.pdf
• Mooney_Herr_2016_Biomechanical walking mechanisms underlying the metabolic reduction caused by.pdf

Harvard Soft Exosuit

• All Publications | Harvard Biodesign Lab

Stanford Exoskeleton Emulators

• Publications | Biomechatronics Laboratory (stanford.edu)

前沿研究

2015 Nature

• Reducing the energy cost of human walking using an unpowered exoskeleton

2017 Science

• Human-in-the-loop optimization of exoskeleton assistance during walking
• Supplementary Materials

2019 Science

• Reducing the metabolic rate of walking and running with a versatile, portable exosuit
• Supplementary Materials

2018 Science Robotics

• Human-in-the-loop optimization of hip assistance with a soft exosuit during walking
• Supplementary Materials

重要人物

Kazerooni

	加利福尼亚大学伯克利分校机械工程教授 伯克利机器人与人类工程实验室主任 BLEEX下肢外骨骼系统团队领导人 Ekso Bionics、suitX公司创始人 [个人主页] Homayoon Kazerooni - UC Berkeley Mechanical Engineering [实验室网站] Robotics & Human Engineering Laboratory (berkeley.edu)

Yoshiyuki Sankai

	日本筑波大学(University of Tsukuba)教授 日本筑波大学半机械人研究中心(Center for Cybernics)主任 日本内阁府战略创新推进计划项目主任 CYBERDYNE株式会社社长 日本富豪榜排名40(2018年) [个人主页] TRIOS 研究人员信息 [公司官网] CYBERDYNE株式会社 [维基百科] Yoshiyuki Sankai ‪[谷歌学术] yoshiyuki sankai‬‬

Hugh Herr

	麻省理工学院媒体实验室(MIT Media Lab)教授 MIT杨氏仿生学中心(Yang Center for Bionics)共同主任 [个人主页] Hugh Herr — MIT Media Lab [实验室网站] Biomechatronics — MIT Media Lab

Arthur Kuo

	前密歇根大学机械工程系教授 前密歇根人体生物力学与控制实验室主任 加拿大卡尔加里大学(University of Calgary)教授 人体性能实验室(Human Performance Lab)主任 加拿大神经肌肉骨骼与生物力学研究主席 Dynamic Walking领域的权威专家 [个人主页] Arthur Kuo - University of Calgary ‪[谷歌学术] Art Kuo‬‬

Daniel Ferris

	佛罗里达大学(University of Florida)生物医学工程系教授 人体神经力学实验室(Human Neuromechanics Laboratory)主任 TNSRE期刊主编(2018-2020) [个人主页] Daniel Ferris – University of Florida [实验室网站] Research – Human Neuromechanics Laboratory ‪‪[谷歌学术] Daniel P. Ferris‬‬

Gregory Sawicki

	佐治亚理工学院(Georgia Tech)机械工程系副教授 可穿戴机器人生理学实验室(Physiology of Wearable Robotics Lab)负责人 [个人主页] Gregory_Sawicki (gatech.edu) [实验室网站] Home - Physiology of Wearable Robotics Lab (gatech.edu)

Philippe Malcolm

	内布拉斯加州大学奥马哈分校(University of Nebraska Omaha)助理教授 [个人主页] Philippe Malcolm (unomaha.edu) ‪[谷歌学术] Philippe Malcolm‬‬

Conor Walsh

	哈佛大学工程与应用科学学院教授 哈佛大学Wyss生物启发工程学院副教授 哈佛生物设计实验室(Harvard Biodesign Lab)创始人 [个人主页] Conor Walsh, Ph.D. (harvard.edu) [实验室网站] Soft Exosuits - Harvard Biodesign Lab

Steve Collins

	斯坦福大学机械工程学副教授 斯坦福大学生物工程学副教授 斯坦福大学生物机电实验室主任 Science Robotics编委会成员 [个人主页] Steve Collins - Biomechatronics Laboratory (stanford.edu) [实验室网站] Biomechatronics Laboratory (stanford.edu)