Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products.
This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism.
1. Cover image - p. Cover 2. Title page - p. iii 3. Table of Contents - p. iii 4. Copyright - p. iv 5. List of Contributors - p. xix 6. Chapter 1. Upper Limb Exoskeleton Systems—Overview - p. 1 7. Chapter 2. Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation - p. 23 8. Chapter 3. Design of the Arm Exoskeleton ABLE Achieving Torque Control Using Ball Screw and Cable Mechanism - p. 45 9. Chapter 4. Rigid Versus Soft Exoskeletons: Interaction Strategies for Upper Limb Assistive Technology - p. 67 10. Chapter 5. EXO-UL Upper Limb Robotic Exoskeleton System Series: From 1 DOF Single-Arm to (7+1) DOFs Dual-Arm - p. 91 11. Chapter 6. PRISM: Development of a 2-DOF Dual-Four-Bar Exoskeleton Shoulder Mechanism to Support Elevation, Depression, Protraction, and Retraction - p. 105 12. Chapter 7. Design and Modeling of Shoulder Exoskeleton Using Two Revolute Joints - p. 133 13. Chapter 8. Hand Exoskeleton Systems—Overview - p. 149 14. Chapter 9. A Portable Tailor-Made Exoskeleton for Hand Disabilities - p. 177 15. Chapter 10. Optimal Kinematic Design of the Link Lengths of a Hand Exoskeleton - p. 193 16. Chapter 11. Lower Limb Exoskeleton Systems—Overview - p. 207 17. Chapter 12. WalkON Suit: A Medalist in the Powered Exoskeleton Race of Cybathlon 2016 - p. 231 18. Chapter 13. Design of Lower-Limb Exoskeletons and Emulator Systems - p. 251 19. Chapter 14. Physical Assistant Robot Safety - p. 275 20. Chapter 15. Current Evidence for Use of Robotic Exoskeletons in Rehabilitation - p. 301 21. Chapter 16. Structural Exoskeletons and Soft Fabric Exosuits for Assistive Walking - p. 311 22. Chapter 17. Hybrid Exoskeletons to Restore Gait in Individuals With Paralysis From Spinal Cord Injury - p. 335 23. Chapter 18. Hybrid Wearable Robotic Exoskeletons for Human Walking - p. 347 24. Chapter 19. Upper Limb Active Prosthetic systems—Overview - p. 365 25. Chapter 20. Design Principles of a Light, Wearable Upper Limb Interface for Prosthetics and Teleoperation - p. 377 26. Chapter 21. The Modular Prosthetic Limb - p. 393 27. Chapter 22. Sensing and Control for Prosthetic Hands in Clinical and Research Applications - p. 445 28. Chapter 23. Lower limb active prosthetic systems—overview - p. 469 29. Chapter 24. Controlling a Powered Transfemoral Prosthetic Leg Using a Unified Phase Variable - p. 487 30. Index - p. 507
Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products.
This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism.
1. Cover image - p. Cover 2. Title page - p. iii 3. Table of Contents - p. iii 4. Copyright - p. iv 5. List of Contributors - p. xix 6. Chapter 1. Upper Limb Exoskeleton Systems—Overview - p. 1 7. Chapter 2. Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation - p. 23 8. Chapter 3. Design of the Arm Exoskeleton ABLE Achieving Torque Control Using Ball Screw and Cable Mechanism - p. 45 9. Chapter 4. Rigid Versus Soft Exoskeletons: Interaction Strategies for Upper Limb Assistive Technology - p. 67 10. Chapter 5. EXO-UL Upper Limb Robotic Exoskeleton System Series: From 1 DOF Single-Arm to (7+1) DOFs Dual-Arm - p. 91 11. Chapter 6. PRISM: Development of a 2-DOF Dual-Four-Bar Exoskeleton Shoulder Mechanism to Support Elevation, Depression, Protraction, and Retraction - p. 105 12. Chapter 7. Design and Modeling of Shoulder Exoskeleton Using Two Revolute Joints - p. 133 13. Chapter 8. Hand Exoskeleton Systems—Overview - p. 149 14. Chapter 9. A Portable Tailor-Made Exoskeleton for Hand Disabilities - p. 177 15. Chapter 10. Optimal Kinematic Design of the Link Lengths of a Hand Exoskeleton - p. 193 16. Chapter 11. Lower Limb Exoskeleton Systems—Overview - p. 207 17. Chapter 12. WalkON Suit: A Medalist in the Powered Exoskeleton Race of Cybathlon 2016 - p. 231 18. Chapter 13. Design of Lower-Limb Exoskeletons and Emulator Systems - p. 251 19. Chapter 14. Physical Assistant Robot Safety - p. 275 20. Chapter 15. Current Evidence for Use of Robotic Exoskeletons in Rehabilitation - p. 301 21. Chapter 16. Structural Exoskeletons and Soft Fabric Exosuits for Assistive Walking - p. 311 22. Chapter 17. Hybrid Exoskeletons to Restore Gait in Individuals With Paralysis From Spinal Cord Injury - p. 335 23. Chapter 18. Hybrid Wearable Robotic Exoskeletons for Human Walking - p. 347 24. Chapter 19. Upper Limb Active Prosthetic systems—Overview - p. 365 25. Chapter 20. Design Principles of a Light, Wearable Upper Limb Interface for Prosthetics and Teleoperation - p. 377 26. Chapter 21. The Modular Prosthetic Limb - p. 393 27. Chapter 22. Sensing and Control for Prosthetic Hands in Clinical and Research Applications - p. 445 28. Chapter 23. Lower limb active prosthetic systems—overview - p. 469 29. Chapter 24. Controlling a Powered Transfemoral Prosthetic Leg Using a Unified Phase Variable - p. 487 30. Index - p. 507
