Is there an exoskeleton that carries weights up stairs?
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Exoskeletons for Weight Carrying and Stair Climbing
Introduction to Exoskeletons for Stair Climbing
Exoskeletons are wearable robotic devices designed to augment human strength and endurance, particularly useful in tasks such as carrying heavy loads and climbing stairs. These devices are increasingly being developed to assist not only healthy individuals but also those with mobility impairments.
Underactuated Exoskeletons for Load Carrying and Stair Climbing
Several studies have focused on the development of underactuated exoskeletons that support load carrying and assist in stair climbing. One such exoskeleton combines active and passive joint mechanisms to support vertical weight and gait propulsion, minimizing hindrance to the wearer's free motion. This system uses muscle circumference sensors and insole sensors to detect the wearer's motion intention, effectively assisting in both walking and stair climbing. Another study proposed a modular-type wearable system that synchronizes with the user through human walking analysis and intention signal acquisition, demonstrating effective performance in carrying loads of 20-40 kg while climbing stairs.
Active Knee Joint Exoskeletons
Active knee joint exoskeletons have been specifically designed to aid in stair climbing by providing the necessary torque and support. These exoskeletons use a hybrid control method to ensure stability during the transition between different gait phases. The knee joint, which requires significant torque during stair climbing, is powered by a motor and speed reducer system, enabling the exoskeleton to lift and support the human body effectively.
Lower Extremity Exoskeletons with Hybrid Control
Lower extremity exoskeletons with hybrid control strategies have been developed to enhance stair climbing mobility. These exoskeletons use a compact slider crank mechanism for the knee joint and a spring-based quasi-passive hip joint to compensate for the gravity force of lifting the leg. The hybrid assistive control strategy ensures coordination of different gait phases, enhancing leg mobility and supporting the body and payload during the standing phase.
Soft Exosuits for Stair Climbing
Soft exosuits represent a lighter alternative to rigid exoskeletons, designed to reduce the metabolic cost of stair climbing. These exosuits assist hip flexion, which is crucial for stair climbing, and have been shown to decrease metabolism and muscle fatigue significantly. The use of a waist-wearable soft exosuit with an admittance delayed feedback control method allows the device to adapt to different staircases, making it an effective solution for older adults.
Multi-Resiliency Passive Exoskeletons
Passive exoskeletons, such as the Multi-Resiliency exoskeleton, have also been developed to reduce energy consumption during uphill walking and stair climbing. These exoskeletons use a spring release mechanism to provide assistance, resulting in a significant decrease in energy expenditure during these activities.
Conclusion
Exoskeletons designed for weight carrying and stair climbing come in various forms, including underactuated systems, active knee joint exoskeletons, hybrid control lower extremity exoskeletons, soft exosuits, and passive exoskeletons. Each type offers unique benefits, from reducing metabolic costs and muscle fatigue to providing the necessary torque and support for effective stair climbing. These advancements highlight the potential of exoskeletons to enhance human mobility and endurance in various applications.
Sources and full results
Most relevant research papers on this topic
Development of an underactuated exoskeleton for effective walking and load-carrying assist
Lower Extremity Exoskeleton for Stair Climbing Augmentation
Design of an Under-Actuated Exoskeleton System for Walking Assist While Load Carrying
Active knee joint exoskeleton for stair ascent augmentation
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
A Powered Hip Exoskeleton With High Torque Density for Walking, Running, and Stair Ascent
Conceptual design of a lower limb exoskeleton actuated by shape memory alloys for assisting elderly people in stair climbing
A Portable Soft Exosuit to Assist Stair Climbing with Hip Flexion
Design of a multi-resiliency exoskeleton and its physiologic cost evaluation in uphill walking and stair climbing locomotion
Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia
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