Abstract
Most of the robotic exoskeletons available today are either lower extremity or upper extremity devices targeting individual orthotic (elbow, knee, and ankle) joints. However, there are a few which target both lower and upper extremities. This chapter aims to propose a design for a wearable quasi-passive lower and upper extremity robotic exoskeleton (QLUE-REX) system, targeting disabled users and aged seniors. This exoskeleton system aims to improve mobility, assist walking, improve and enhance muscle strength, and help people with leg/arm disabilities. QLUE-REX combines elbow, knee, and ankle joints with options to synchronize individual jointsâ movements to achieve the following: (1) assist in lifting loads of 30â40 kilograms, (2) assist in walking, (3) easy and flexible to wear without any discomfort, and (4) be able to learn and adapt along with storing time-stamped sensor data on its exoskeleton storage media for predicting/correcting usersâ movements and share data with health professionals. The researchâs main objective is to conceptualize a design for QLUE-REX system. QLUE-REX will be a feasible modular-type wearable system that incorporates orthotic elbow, knee, and ankle joints effectively in either synchronous or asynchronous modes depending on the usersâ needs. It will utilize human-walking analysis, data sensing and estimation technology, and measurement of the electromyography signals of userâs muscles, exploiting biomechanical principles of human-machine interface.
Introduction
Traumatic brain and spinal cord injuries along with strokes are major causes of disabilities in the industrialized world (Almekkawy et al., 2019; Hesse et al., 2003; Rupal et al., 2017). Approximately, 10% of the non-institutionalized adult population in the most industrialized world nations report that they have at least some difficulty walking or use a mobility aid (Iezzoni, 2003; Zaroug et al., 2019), and 39.0 million people over the age of 18 in the United States alone (16.2% of the adult population) report an ambulatory disability with 32.3 million reporting difficulty walking (Taylor, 2018).
Mobility dysfunction is highly correlated to falls with serious implications (Almekkawy et al., 2019; Arnold & Faulkner, 2002; Bacsu et al., 2012; Stokes & Lindsay, 1996). Falls result in identifiable leg weakness and have a threefold increase among persons with impaired gait or balance (Bacsu et al., 2012; Leveille et al. 2002; Zaroug et al., 2019). Additionally, the developed world has begun facing the growing issue of aging. As birth rates decline, the working population diminishes as well. Combined with rising life expectancies, the senior population in these nations is also increasing. Successfully addressing mobility dysfunction in disabled and seniors has the capacity for significant savings in overall healthcare spending (Almekkawy et al., 2019; Hesse et al., 2003; Molteni et al., 2018).
Such a solution exists in exoskeletons. In simple words, a robotic exoskeleton is a machine that fits around a human and aids with movement, load carrying, virtual reality, and so on. Most of these systems cover the lower bodyâhence the name âexoskeletonâ, meaning âouter skeletonâ (Lewis & Ferris, 2011; Zaroug et al., 2019). There are many benefits to using exoskeletons. They can help the elderly and disabled walk with greater ease. They can be used in construction to carry building materials. In the military, they give greater mobility and can provide information about the wearerâs health in case of an emergency (Chu, Kazerooni, & Zoss, 2005). This solves several health-related problems and can be a useful aid in many fields where workers are overworked and need bodily help. Exoskeletons can help disabled and seniors to join todayâs workforce. Indeed, this process has already started in Japan with Cyberdyne, a Japanese company, leading the way and introducing lower-body exoskeletons into the industry (https://âwww.âcyberdyne.âjp/âenglish/â). In other developed nations, however, namely, in North America and Western Europe, exoskeletons have remained a niche in the medical industry. This chapter outlines the design recommendations for a quasi-passive lower and upper extremity robotic exoskeleton (QLUE-REX) system, which intends to provide physical support and gather muscle data to improve mobility dysfunction and strengthen human locomotion.
Existing Solutions
This section provides an overview of existing lower and upper extremity exoskeletons and compares existing designs and design issues, technical functionality, and cli...
