Exoskeleton Structure Research Articles

Diatom frustule-inspired elastic metamaterials

Although a universally accepted definition of elastic metamaterials does not exist yet, the latter are often associated to man-made or artificially engineered media possessing properties typically not available in Nature. Pioneering studies have recently demonstrated that complex structural organizations, often arranged in a periodic and/or gradient manner and spanning multiple length scales, typically found in many biological systems, exhibit extraordinary absorption/reflection functionalities enhanced by local resonances or Bragg scattering mechanisms. This has opened the road to new designs of bio-inspired metamaterial. In this context, here we investigate the elastic dynamic response of diatom frustules, i.e., the exoskeleton structures of photosynthetic algae ubiquitously present throughout the planet in water environments. Firstly, we analyse and record their structural arrangement in nano- and micro- scales by using the Scanning Electro Microscopy (SEM) and the optical profilometer. The results of the analysis are transferred to the metamaterial design. Secondly, through numerical models, we show the possibility of certain frustule-inspired geometries to behave as frequency selective elastic filters thanks to the presence of elastic bandgaps. The work herein contributes to the perspective of elastic metamaterials inspired by Nature.

Numerical Simulation and Design of a Mechanical Structure of an Ankle Exoskeleton for Elderly People

This article presents the numerical simulation and design of an ankle exoskeleton oriented to elderly users. For the design, anatomical measurements were taken from a user of this age group to obtain an ergonomic, resistant, and exceptionally reliable mechanical structure. In addition, the design was validated to support a “weight range” of users between 50 and 80 kg in order to evaluate the reaction of the mechanism within the range of loads generated in relation to the first principal stress, the safety coefficient, the Von Mises stress, and principal deformations, for which the 3D CAD software Autodesk Inventor and theoretical correlations were used to calculate the displacement and rotation angles of the ankle in the structure. Likewise, two types of materials were evaluated: ABS (acrylonitrile butadiene styrene) and a polymer reinforced with carbon fiber. Finally, the designed pieces were assembled with the guarantee that the mobility of the system had been validated through the numerical simulation environment, highlighting that by being generated through 3D printing, manufacturing costs are reduced, allowing them to be accessible and ensuring that more people can benefit from this ankle exoskeleton.

Optimal interply angle of bio-inspired composite curved panels with helicoidal fiber architecture

The exoskeleton structure of mantis shrimp’s dactyl clubs presents an extraordinary helicoidal reinforcement pattern, holding immense potential for revolutionizing fiber-reinforced composite materials. While extensive investigations have shed light on its unique advantages, the inherent nature of curved Bouligand structures remains incompletely comprehended. To elucidate these unexplored characteristics, the present study introduces a novel analytical model to efficiently calculate the interlaminar shear and normal stresses in helicoidal laminated curved beams under transverse loading. The analytical model systematically determines the optimal uniform fiber interply (pitch) angle for these bio-inspired structures with an arbitrary number of layers. The computational analysis revealed that achieving minimum interlaminar stresses always requires the precise orientation of π or 2π helicoids along the laminate thickness when the number of layers exceeds two. This theoretical discovery is remarkably identical to the study of stacked chitin fibrils in arthropod clubs reported in the literature. For a 37-ply composite, the flat and shallow-curved beam configurations primarily resulted in a 5° optimal pitch angle, while the deep-curved configuration yielded a 10° optimal angle. To validate the model, three-point bending testing were performed. Four fiber pitch angles were thoroughly examined, including the optimal and quad angles. The digital image correlation (DIC) technique was employed to analyze the structural responses and detect the onset of delamination. The numerical and experimental results demonstrated good consistency, exhibiting significant enhancement in the delamination resistance of up to 30 percent with the optimal angle.

Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles

Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this paper presents the design of a passive upper-limb exoskeleton based on McKibben artificial muscles. The interaction forces between the exoskeleton and the user, as well as the mechanical resistance of the exoskeleton structure, were investigated to finalize the design of the device prior to its prototyping. Details are provided about the solutions adopted to assemble, wear, and regulate the exoskeleton’s structure. The first version of the device weighing about 5.5 kg was manufactured and tested by two users in a motion analysis laboratory. The results of this study highlight that the exoskeleton can effectively reduce the activation level of shoulder muscles without affecting the lumbar strain.

"DESIGN AND OPTIMIZATION OF WEARABLE ACTIVE WAIST AND LEG EXOSKELETON STRUCTURE FOR MINING"

"DESIGN AND OPTIMIZATION OF WEARABLE ACTIVE WAIST AND LEG EXOSKELETON STRUCTURE FOR MINING"

A Simulation-Based Framework to Determine the Kinematic Compatibility of an Augmentative Exoskeleton during Walking

Augmentative exoskeletons (AEs) are wearable orthotic devices that, when coupled with a healthy individual, can significantly enhance endurance, speed, and strength. Exoskeletons are function-specific and individual-specific, with a multitude of possible configurations and joint mechanisms. This complexity presents a challenging scenario to quantitatively determine the optimal choice of the kinematic configuration of the exoskeleton for the intended activity. A comprehensive simulation-based framework for obtaining an optimal configuration of a passive augmentative exoskeleton for backpack load carriage during walking is the theme of this research paper. A musculoskeletal-based simulation approach on 16 possible kinematic configurations with different Degrees of Freedom (DoF) at the exoskeleton structure’s hip, knee, and ankle joints was performed, and a configuration with three DoF at the hip, one DoF at the knee, three DoF at the ankle was quantitatively chosen. The Root Mean Square of Deviations (RMSD) and Maximum Deviations (MaxDev) between the kinematically coupled human–exoskeleton system were used as criteria along with the Cumulative Weight Score (CWS). The chosen configuration from the simulation was designed, realised, and experimentally validated. The error of the joint angles between the simulation and experiments with the chosen configuration was less than 3° at the hip and ankle joints and less than 6° at the knee joints.

Design of soft exoskeleton structure for hand rehabilitation actuated by shape memory alloy

Design of soft exoskeleton structure for hand rehabilitation actuated by shape memory alloy

Reconstruction of occluded pelvis markers during marker-based motion capture with industrial exoskeletons

Industrial back support exoskeletons are a promising solution to alleviate lumbar musculoskeletal strain. Due to the complexity of spinal loading, evaluation of EMG data alone has been considered insufficient to assess their support effects, and complementary kinematic and dynamic data are required. However, the acquisition of marker-based kinematics is challenging with exoskeletons, as anatomical reference points, particularly on the pelvis, are occluded by exoskeleton structures. The aim of this study was therefore to develop and validate a method to reliably reconstruct the occluded pelvic markers. The movement data of six subjects, for whom pelvic markers could be placed while wearing an exoskeleton, were used to test the reconstructions and compare them to anatomical landmarks during lifting, holding and walking. Two separate approaches were used for the reconstruction. One used a reference coordinate system based on only exoskeleton markers (EXO), as has been suggested in the literature, while our proposed method adds a technical marker in the lumbar region (LUMB) to compensate for any shifting between exoskeleton and pelvis. Reconstruction with EXO yielded on average an absolute linear deviation of 54 mm ± 16 mm (mean ± 1SD) compared to anatomical markers. The additional marker in LUMB reduced mean deviations to 14 mm ± 7 mm (mean ± 1SD). Both methods were compared to reference values from the literature for expected variances due to marker placement and soft tissue artifacts. For LUMB 99% of reconstructions were within the defined threshold of 24 mm ±9 mm while for EXO 91% were outside.

Hsp70 Knockdown in the Brine Shrimp Artemia franciscana: Implication on Reproduction, Immune Response and Embryonic Cuticular Structure.

The potential functional role(s) of heat shock protein 70 (Hsp70) in the brine shrimp, Artemia franciscana, a crucial crustacean species for aquaculture and stress response studies, was investigated in this study. Though we have previously reported that Hsp70 knockdown may have little or no impact on Artemia development, the gestational survival and number of offspring released by adult females were impaired by obscuring Hsp70 synthesis. Transcriptomic analysis revealed that several cuticle and chitin synthetic genes were downregulated, and carbohydrate metabolic genes were differentially expressed in Hsp70-knockdown individuals. A more comprehensive microscopic examination performed in this study revealed exoskeleton structural destruction and abnormal eye lenses featured in Hsp70-deficient adult females 48h after Hsp70 dsRNA injection. Cysts produced by these Hsp70-deficient broods, instead, had a defective shell and were smaller in size, whereas nauplii had shorter first antennae and a rougher body epicuticle surface. Changes in carbohydrate metabolism caused by Hsp70 knockdown affected glycogen levels in adult Artemia females, as well as trehalose in cysts released from these broods, indicating that Hsp70 may play a role in energy storage preservation. Outcomes from this work provided novel insights into the roles of Hsp70 in Artemia reproduction performance, cyst formation, and exoskeleton structure preservation. The findings also support our previous observation that Hsp70 knockdown reduced Artemia nauplius tolerance to bacterial pathogens, which could be explained by the fact that loss of Hsp70 downregulated several Toll receptor genes (NT1 and Spaetzle) and reduced the integrity of the exoskeleton, allowing pathogens to enter and cause infection, ultimately resulting in mortality.

Design of lower limb fitness exoskeleton based on ergonomics

The lower limb fitness exoskeleton can overcome the load and reach the exercise effect by human moving arms and legs. In this paper, the structural features of human lower limb joints, human gait, and degrees of freedom of lower limbs are analyzed from the perspective of bionics, and a lower limb fitness exoskeleton structure is designed by combining the operating principle and main structural components of the lower limb exoskeleton. The modeling and calibration of the human body and lower limb fitness exoskeleton are completed by Solidworks and ANSYS. Developing the count recorder could detect human movement information as well as remind people to prevent over-exercising.

Study on the mechanism and performance of 3D-printed PLA/epoxy composite for stab resistance

PurposeStab-resistant body armor (SRBA) is used to protect the body from sharp knives. However, most SRBA materials currently have the disadvantages of large weight and thickness. This paper aims to prepare lightweight and high-performance SRBA by 3D printing truss structure and resin-filling method.Design/methodology/approachThe stab resistance truss structure was prepared by the fused deposition modeling method, and the composite structure was formed after filling with resin for dynamic and quasi-static stab tests. The optimized structural plate can meet the standard GA68-2019. Digital image correlation technology was used to analyze the local strain changes during puncture. The puncture failure mode was summarized by the final failure morphologies. The explicit dynamics module in ANSYS Workbench was used to analyze the design of the overlapped structure stab resistance process in this paper.FindingsThe stab resistance performance of the 3D-printed structural plate is affected by the internal filling pattern. The stab resistance performance of 3D-printed structural parts was significantly improved after resin filling. The 50%-diamond-PLA-epoxy, with a thickness of only 5 mm was able to meet the stab resistance standard. Resins are used to increase the strength and hardness of the material but also to increase crack propagation and reduce the toughness of the material. The overlapping semicircular structure was inspired by the exoskeleton structure of the demon iron beetle, which improved the stab resistance between gaps. The truss structure can effectively disperse stress for toughening. The filled resin was reinforced by absorbing impact energy.Originality/valueThe 3D-printed resin-filled truss structure can be used to prepare high-performance stab resistance structural plates, which balance the toughness and strength of the overall structure and ultimately reduce the thickness and weight of the SRBA.

Numerical investigation on energy absorption characteristics of impact-resistant lightweight structure of bio-mimetic micro aerial vehicle

With the increasing development of micro aerial vehicle, the impact resistance of the structure has gradually become a research hotspot. The beetle's exoskeleton not only provides important protection for its body and flexible wings but also ensures its good flight performance. Therefore, the beetle's exoskeleton has become an important research content in the field of bio-mimetic micro aerial vehicles. In this study, taking the internal structure of the beetle's exoskeleton as the research object, a kind of bio-mimetic lightweight thin-walled impact-resistant structure that can be used in the micro aerial vehicle is proposed. The energy absorption characteristics of the bio-mimetic structure under axial impact loading are calculated and analyzed by the numerical simulation method, and the important parameters such as impact angle, protective layer thickness, and wall thickness are optimized and discussed. The main results include that the filling method of the hollow column has a certain correlation with the energy absorption characteristics of the structure under different impact angles, and among the different cross-sectional shapes, the hollow column with a circular cross-sectional configuration has the best energy absorption ability. In addition, as the internal space of the structure increase exponentially, the decrease of specific energy absorption value of the bio-mimetic structure is relatively small. Finally, the wall thickness with good energy absorption characteristics is about 1.5 mm, while the preferred span length of the structure is between 90 and 120 mm.

Smart Robotic Exoskeleton: Constructing Using 3D Printer Technique for Ankle-Foot Rehabilitation

Patients with spinal cord injury (SCI), stroke, and coronavirus patients must undergo a rehabilitation process involving programmed exercises to regain their ability to perform activities of daily living (ADL). This study focuses on the rehabilitation of the foot-ankle joint to restore ADL through the design and implementation of a rehabilitation exoskeleton with three degrees of freedom (abduction/adduction, inversion/eversion, and plantarflexion/dorsiflexion movements). increase the patients cause worker fatigue, emotional exhaustion, a lack of motivation, and feelings of frustration, all contributing to a decrease in work efficacy and productivity. The robotic exoskeleton was developed to overcome this limitation and support the medical rehabilitation section. The main goal of this study is to develop a portable exoskeleton that is comfortable, lightweight, and has a range of motion (ROM) compatible with human anatomy to ensure that movements outside of this range are minimized, the anthropometric parameters of a typical human lower foot have been considered. In addition, it's a home-based rehabilitation device which means the exoskeleton can be used in any environment due to its lightweight and small size to accelerate the rehabilitation process and increase patient comfort. The proposed autonomous exoskeleton structure is designed in Solid Works and constructed with polylactic acid (PLA) plastic, the reason PLA was chosen is its lightweight, available, stiff material, and low cost, using 3D printing technology the exoskeleton was manufacturing. Electromyography (EMG) and angle data were extracted using EMG MyoWare and gyroscope sensors, respectively, to control the exoskeleton. It was evaluated on its own then with 2 normal subjects and 17 patients with stroke, spinal cord injury (SCI), and coronavirus. The limitation that has been faced was that the sessions were limited due to the limited time provided for the study. According to the improvement rate, the exoskeleton has a significant impact on regaining muscle activity and improving the range of motion of foot-ankle joints for the three types of patients. The rate of improvement was 300%, 94%, and 133.3% for coronavirus, SCI, and stoke respectively. These results demonstrate that this exoskeleton can be utilized for physiotherapy exercises.

A Compact and Portable Exoskeleton for Shoulder and Elbow Assistance for Workers and Prospective Use in Space

Exoskeletons are wearable robotic devices that surround the anatomy of the user to work in tandem with it. Depending on their structure, exoskeletons can be classified as rigid or flexible. The structure of flexible exoskeletons is made of soft materials, such as fabrics, which adapt to user motion. Therefore, these devices are prone to becoming misaligned with the user, due to improper fitting and slipping of the exoskeleton components on the user body. This article describes a cable-driven exosuit, called <i>LUXBIT</i>, that favors its anatomical adaption to the user by arranging the fabric fibers and sewing patterns to transfer the mobilizing forces. This prototype integrates a novel deformable mechanism that promotes the natural lifting of the arm. <i>LUXBIT</i> is intended for bimanual assistance in daily living, being equipped with a backpack to this end. The results analyzed in this article show that <i>LUXBIT</i> reduces muscle activity in the upper limbs&#x2019; flexion by ratios of up to 13.17&#x0025; and allows the user to hold tiring postures for 62.91&#x0025; longer.

Effects of thermal stress caused by the 2015–2016 El Niño on the biochemical composition, exoskeleton structure, and symbiont density of the fire coral Millepora alcicornis

Reef-forming cnidarians are essential for maintaining ecological balance. Unfortunately, coral reefs are endangered due to coral bleaching, which interrupts mutualistic symbiosis between Symbiodiniaceae algae and their coral hosts. Bleaching events result in very high coral mortality and the rapid deterioration of reef structures. Studies aimed at explaining the causes, mechanisms, and consequences of coral bleaching have been mainly conducted with anthozoans, while the impacts of thermal stress responsible for coral bleaching have been scarcely studied in hydrozoans, such as Millepora species (phylum Cnidaria, class Hydrozoa), which are the second most important reef-forming cnidarians. In the present study, the effects of thermal stress caused by the 2015–2016 El Niño on symbiont abundance, exoskeleton structure, and the biochemical composition of Millepora alcicornis were analyzed. Unbleached M. alcicornis specimens exhibited a higher abundance of Breviolum and Durisdinium species, which suggests that unbleached hydrocoral colonies might counteract thermal stress by hosting thermotolerant symbionts of the Durisdinium genus. Bleached hydrocorals exhibited lower levels of calcification than unbleached hydrocorals as well as changes in the microstructure of trabeculae and zooid pores. In contrast, thermal stress did not affect total calcium carbonate and carbohydrate content. Bleached tissues showed significantly higher levels of protein and refractory material, whereas their lipid content decreased considerably. The present study provides evidence that bleached M. alcicornis colonies suffered a decline in calcification and changes in the structure of their exoskeletons after being exposed to the 2015–2016 El Niño. The significant decrease in lipid content suggests that M. alcicornis primarily uses energy stores to maintain vital cellular processes at the expense of calcification.

Study on mechanical behaviors and failure mechanism of polyurethane matrix composites inspired by mussel chemistry and arthropod exoskeleton structures under dynamic impact

Polyurethane elastomer (PUE), an elastic polymer material of lightweight and unexceptionable mechanical properties, is widely used into the military protective structural materials to resist dynamic impact and absorb energy. However, the mechanical and thermal properties of PUE need to be enhanced due to failure damage caused by the thermal stress softening under high-speed impact. Inspired by the mussel chemistry and the exoskeleton structures of arthropods, catechol and polyethyleneimine were used to functionalize micro carbon fibers (MCFs) to enhance the mechanical and thermal properties of PUE composites. Compared with Pure PUE, the static compression modulus of PUE composite with a filler content of 2.0 wt.% was increased by 99.25%. The dynamic maximum strength and energy absorption were improved by 74.08% and 102.92%, respectively. Besides, the modified MCFs could significantly enhance the viscoelasticity and thermal conductivity characteristics of composites. The enhancement of impact resistance and energy absorption capability of the composites are mainly due to the synergistic effect of tough mussel adhesion proteins and enhancing MCFs. Thereinto, MCFs could provide incredible strength, and plenty of crosslinking networks based on phenol-amine chemistry were served as supporting structures to resist dynamic impact by effective energy dissipation. Therefore, this work can provide a way to prepare PUE composites with excellent thermal and mechanical performance, and it is beneficial to understand the deformation and failure mechanisms of PUE and other soft polymer materials under dynamic impact.

Design and Optimization of Lower Limb Rehabilitation Exoskeleton with a Multiaxial Knee Joint.

To facilitate rehabilitation training for patients, we proposed the implementation of an anthropomorphic exoskeleton structure that incorporates a variable instantaneous center of rotation (ICR). This design considers the variability in knee ICR among individuals, resulting from the irregular form of the human knee joint, and leverages a double-degrees-of-freedom (2DOF) five-bar mechanism to adapt to these differences. The walking gait of the human lower limb and the corresponding knee ICR were measured and calculated using an optical 3D motion capture system. The optimal dimension parameters of the five-bar mechanism were then obtained through the optimization of human movement position inputs and rod length constraints to minimize the error in knee ICR, gait angle, and ankle trajectory between the human and the exoskeleton. Finally, we established an exoskeleton prototype to conduct relevant experimental tests. The experiment results showed that the average errors of knee ICR trajectory, hip angle, knee angle, and ankle trajectory were 5.52 × 10-4 m, 0.010 rad, 0.014 rad, and 1.57 × 10-3 m, respectively. The experimental results demonstrated that the exoskeleton's movement trajectory was close to the human's, reducing the human-mechanism interaction force and improving patient comfort during rehabilitation training.

Upper-Limb Robotic Exoskeleton for Early Cardiac Rehabilitation Following an Open-Heart Surgery—Mathematical Modelling and Empirical Validation

Robotic exoskeletons have the potential to enhance the quality of life of patients undergoing cardiac rehabilitation. Recent studies found that the use of such devices was associated with significant improvements in physical function, mobility, and overall well-being for individuals recovering from a cardiac event. These improvements were seen across a range of measures, including cardiovascular fitness, muscle strength, and joint range of motion. In addition, the use of robotic exoskeletons may help to accelerate the rehabilitation process, allowing patients to make faster progress towards their goals. This article proposes a new robotic exoskeleton structure with 12 DOFs (6 DOFs on each arm) in a symmetrical construction for upper limbs intended to be used in the early rehabilitation of cardiac patients following open-heart surgery or a major cardiac event. The mathematical modelling and empirical validation of the robotic exoskeleton prototype are described. The matrix exponential algorithm, kinetic energy, and generalized forces were employed to overcome the problem of high complexity regarding the kinematic and dynamic model of the robotic exoskeleton. The robotic exoskeleton prototype was empirically validated by assessing its functionalities in a lab and medical environment.

Exoskeleton type long-period fiber grating for cross-talk-resistance single-parameter measurement.

This paper proposes a new, to the best of our knowledge, design framework of long-period fiber grating (LPFG) sensors resistant to multi-parameter cross talk. A section of hollow quartz capillary (HQC), which acts as an exoskeleton, is periodically merged with a single-mode fiber (SMF) by the arc-discharge method. The mechanical stress in the SMF is released while the thermal stress is enhanced after a high-temperature fusion process. Under the influence of the elastic-optical effect, the refractive index of the core is periodically modulated along the axial direction to form an exoskeleton long-period fiber grating (Es-LPFG). The unique exoskeleton structure not only induces mode coupling but also enables the proposed device to resist cross talk among the strain, ambient refractive index, and vector bending. The temperature is able to be measured independently with a sensitivity of 74 pm/ ∘C. The novel Es-LPFG is promising in single-parameter sensing, mode-locked lasers, and frequency-locked gain flattening.

Design and Experimental Verification of a Hip Exoskeleton Based on Human–Machine Dynamics for Walking Assistance

High motion compatibility with the human body is essential for lower limb exoskeletons. However, in most exoskeletons, internal/external rotational degrees of freedom are not provided, which makes accurate alignment between the biological and mechanical joints difficult to achieve. To solve this problem, a novel hip exoskeleton with a parallel structure is developed in this article. The unique parallel structure eliminates the misalignment problem and enables walking free of restrictions. On the other hand, this requires a coordinated control among actuations within the parallel exoskeleton structure. In this light, a model-based controller is proposed in this article. The controller is based on a human–machine integrated dynamic model and can generate coordinated force control references that could increase the closed-loop system's sensitivity to its wearer's movements. The controller requires only kinematic information from the wearer, but not interaction force data that most existing exoskeletons require in their control design, which saves spaces and makes the system compact for use. Experiments were conducted to demonstrate the kinematic compatibility and assistive performance of the proposed hip exoskeleton.