Exoskeletons
Exoskeleton - the Fusion of Robot and Human
Exoskeleton is a device which augments the performance of an able-bodied wearer or increases the ambulatory ability of a person suffering from leg pathology. Based on the difference in the mechanical construction, exoskeletons can be categorized into two types: powered exoskeletons and passive exoskeletons.
The goal of the exoskeleton research at the Delft Biorobotics Lab is to assist people with walking. They can be either for more efficient walking or to assist people with walking disabilities. Different exoskeletons and orthotic devices have been developed to achieve this goal.
Passive Exoskeleton Research
XPED Project
Can walking be more efficient? Models show that during walking energy is unnecessarily dissipated. If we can store the 'braking' energy and use it to power walking, our gait pattern can be more efficient. At the lab we are working on exoskeletons that are capable of doing this and let you walk more efficient. Find out how in one of our publications (click here) and see how it works in the movie.
This project is collaboration between the University of Twente and the Delft University of Technology.
Powered Exoskeleton Research
MINDWALKER - EU FP7 Accessible and Assistive ICT Project
Due to trauma or disease some people have lost the capability to control certain muscle and could not walk on their own anymore. A lack of mobility often leads to limited participation in social life. One possible solution is to use robotic device to support them and train them to regain the walking ability. MINDWALKER Exoskeleton has a pair of robotic legs, which utilize both bio-signal (EEG, EMG) and non-bio-signal (accelerometer, load cells and encoders) to move human legs in a natural way.
The purpose of this EU FP7 project is to conceive a system empowering lower limbs disabled people with walking abilities, which allows them perform their usual daily activities in the most autonomous and natural manner.
The project addresses 3 main different fields of expertise:
- BCI technologies
- Virtual Reality
- Exoskeleton Mechatronics and Control
The project top level objective is to combine expertise to develop an integrated MINDWALKER system. In addition the system shall undergo a clinical evaluation process. In the Netherlands, TU Delft is responsible for the mechanical design and mechatronics integration, while University of Twente is responsible for the balance and control of the exoskeleton.
Evryon - EU FP7 Embodied intelligence ICT Project
Design is craftsmanship. Although heavily aided by computer, it is still the human who makes the most important design decisions. In the Evryon project we like to break this dogma. In this project we develop a new strategy where exoskeletons are designed entirely by a computer. Simulations and optimizations of the mechanics and control methods leads to the best exoskeleton layout.
The goal of the Evryon-project is to develop a novel approach for the design of Wearable Robots (WRs) that can be used for applications such as rehabilitation, assistance, human augmentation and more. The project focuses on generating mechanical structures by optimization.
Simulation of human walking
One of the project achievements was a 2D simulator where the interaction between the exoskeleton and its user can be modeled.
Pneumatic Ankle Foot Orthosis
As part of the Evryon-project, an pneumatic ankle foot orthosis (AFO) is developed. The orthosis is powered by a pneumatic muscle. The orthosis functions as a platform to test different control strategies.
