Page 290 - Handbook of Biomechatronics

CHAPTER EIGHT

Upper and Lower Extremity

Exoskeletons

†
Andres F. Ruiz-Olaya*, Alberto Lopez-Delis ,
Adson Ferreira da Rocha ‡
*Faculty of Electronics and Biomedical Engineering, Antonio Narin ˜o University, Bogota ´, Colombia
†
Medical Biophysics Center, University of Oriente, Santiago de Cuba, Cuba
‡
Biomedical Engineering Program, University of Brasilia, Brasilia, Brazil
Contents

1 Concepts and Fundamentals of Exoskeletons 283
1.1 Definitions 283
1.2 Classification and Applications of Exoskeletons 284
1.3 The Role of Biomechatronics in Exoskeletons 287
2 A Brief History of Exoskeleton Research 289
2.1 Upper Extremity Exoskeletons 290
2.2 Lower Extremity Exoskeletons 293
3 Design and Implementation of Exoskeletons 297
3.1 Kinematics and Dynamics of Exoskeletons 297
3.2 Human Factors and Biomechanics 299
3.3 Technologies in Exoskeletons 300
3.4 Control for Exoskeletons 303
4 Exoskeletons: Challenges and Trends 305
4.1 Applications 305
4.2 Technologies 306
4.3 Exoskeleton Design 308
4.4 Control for Exoskeleton 311
5 Conclusion 313
References 313
Further Reading 317

1 CONCEPTS AND FUNDAMENTALS OF EXOSKELETONS
1.1 Definitions
In biology, exoskeleton is a kind of external covering on an animal to protect
or support it, for example, the shell of a crab. In the engineering field, the
concept of the exoskeleton-type system is an extension of the exoskeleton in

Handbook of Biomechatronics © 2019 Elsevier Inc. 283
https://doi.org/10.1016/B978-0-12-812539-7.00011-8 All rights reserved.