UW - BioRobotics Lab - Wearable Robotics - Exoskeleton



Biorobotics Lab Research > Wearable Robotics - Exoskeleton

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Wearable Robotics - Exoskeleton

	The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for three fundamental applications: a human-amplifier assistive device sharing a portion of the external load with the operator, haptic device, and automatic physiotherapy. The current research effort is focused on the developing human machine interface (bioport) at the neuromuscular level using EMG (electromyography) signals as the primary command signal to the system. The research is conducted as part of a collaboration between the Biorobtics Lab and Prof. Stephen Burns MD - Department of Rehabilitation Medicine and the VA Puget Sound Health Care System.

	Devices

		Exoskeleton Prototype 1 - The first exoskeleton prototype is a one DOF system (elbow joint) aimed to study the feasibility of an EMG bioports. \| Status: Completed \|


		Exoskeleton Prototype 2 - The second exoskeleton prototype is a three DOF system (1- elbow; 2 shoulder) aimed to study multiple joint movements using EMG bioports. \| Status: Completed \|


		Exoskeleton Prototype 3 - The third exoskeleton prototype is an eight DOF system (3 shoulder joint; 2 elbow joint; 2 wrist joint and grasping) aimed to study fully functional multiple joint movements of the human arm using EMG bioports. \| Status: Active Research \|


	Projects

	Performances of Hill-Type and Neural Network Muscle Models - Towards a Myosignal Based Exoskeleton Device: Exoskeleton Prototype 1 - Passive Mode Methodology: Human Subjects - Off-Line Muscle Modeling / Simulation Status: Completed Performance Evaluation of a One DOF Myosignal-Based Powered Exoskeleton System Device: Exoskeleton Prototype 1 - Active Mode (Real-Time) Methodology: Human Subjects - Real-Time Human Muscle Simulation Status: Completed Performance Hill-Based Model as a Myoprocessor for a Neural Controlled Powered Exoskeleton Arm - Parameters Optimization Device: Vereos Cybex Strength Machines / Exoskeleton Prototype 3 - Passive Mode (Real-Time) Methodology: Human Subjects - Real-Time Human Muscle Simulation Status: Completed The Human Arm Kinematics and Dynamics During Daily Activities Toward a 7 DOF Upper Limb Powered Exoskeleton Device: Vicon System (Real-Time) Methodology: Human Subjects -Arm Kinematics / Dynamics Status: Completed

	News & Video Clips

	IEEE Spectrum The Rise of the Body Bots (PDF 2.7 MB) By Erico Guizzo and Harry Goldstein IEEE Spectrum, Oct. 2005 URL \| Projects in the US \| Photo Gallery \| University of Washington Exoskeleton \| Exoskeletons - An Interview with IEEE Spectrum Correspondent Erico Guizzo URL Link - Select Oct. 2005 > Exoskeleton Download the MP3 File Washington Engineer - E-News Innovations: ‘Super Suit’ to the rescue Oct. 2005 Electrical Engineering Kaleidoscope EEK 2003 - Electrical Engineering Kaleidoscope - Annual research review Approaching BORG - Melting Human and Machines EEK 2004 - Electrical Engineering Kaleidoscope - Annual research review Control & Robotics EEK 2006 - Electrical Engineering Kaleidoscope - Annual research review Development of a 7 DOF Upper-Limb Exoskeleton Misc. Web Sites Science News For Kids - Supersuits for Superheroes Video Clips The Powered Exoskeleton Concept The exoskeleton concept as demonstrated by Lt. Ellen Ripley operating the Caterpillar P-5000 Powered Work Loader in the science fiction movie Aliens [ MPG 4.3 MB ] Exoskeleton Prototype 1 System overall view. [ MPG 4.3 MB ] The Exoskeleton system as an assistive device. [ MPG 3.6 MB ] The Exoskeleton system in a teleopration mode. [ MPG 3.3 MB ] The Exoskeleton system operated by a disabled person as an assistive device. [ MPG 1.8 MB ] Exoskeleton Prototype 2 The Exoskeleton system as an assistive device [ MPG 4.4 MB ]