Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing
A novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of the novel system to determi...
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| Format: | Article |
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MDPI AG
2022-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/17/8835 |
| _version_ | 1797496202426580992 |
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| author | Max Böhme Hans-Peter Köhler Robert Thiel Jens Jäkel Johannes Zentner Maren Witt |
| author_facet | Max Böhme Hans-Peter Köhler Robert Thiel Jens Jäkel Johannes Zentner Maren Witt |
| author_sort | Max Böhme |
| collection | DOAJ |
| description | A novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of the novel system to determine its effectiveness in use. For this purpose, three test persons were biomechanically investigated, who performed stair ascents and descents with and without the exoskeleton. Kinematics, kinetics, and muscle activity of the knee extensors were measured. The measured data were biomechanically simulated in order to evaluate the characteristics of joint angles, moments, and reaction forces. The results show that the new exoskeleton assists both the ascent and the descent according to the measured surface electromyography (sEMG) signals, as the knee extensors are relieved by an average of 19.3%. In addition, differences in the interaction between the test persons and the system were found. This could be due to a slightly different operation of the assisting force or to the different influence of the system on the kinematics of the users. |
| first_indexed | 2024-03-10T03:01:15Z |
| format | Article |
| id | doaj.art-e9f2582d1c374503a1e08a7e6ee2f1f5 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T03:01:15Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e9f2582d1c374503a1e08a7e6ee2f1f52023-11-23T12:47:42ZengMDPI AGApplied Sciences2076-34172022-09-011217883510.3390/app12178835Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair ClimbingMax Böhme0Hans-Peter Köhler1Robert Thiel2Jens Jäkel3Johannes Zentner4Maren Witt5Faculty of Engineering, Leipzig University of Applied Sciences, Karl-Liebknecht-Str. 132, 04277 Leipzig, GermanyDepartment of Biomechanics in Sports, Faculty of Sport Science, University Leipzig, Jahnallee 59, 04109 Leipzig, GermanyFaculty of Engineering, Leipzig University of Applied Sciences, Karl-Liebknecht-Str. 132, 04277 Leipzig, GermanyFaculty of Engineering, Leipzig University of Applied Sciences, Karl-Liebknecht-Str. 132, 04277 Leipzig, GermanyFaculty of Engineering, Leipzig University of Applied Sciences, Karl-Liebknecht-Str. 132, 04277 Leipzig, GermanyDepartment of Biomechanics in Sports, Faculty of Sport Science, University Leipzig, Jahnallee 59, 04109 Leipzig, GermanyA novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of the novel system to determine its effectiveness in use. For this purpose, three test persons were biomechanically investigated, who performed stair ascents and descents with and without the exoskeleton. Kinematics, kinetics, and muscle activity of the knee extensors were measured. The measured data were biomechanically simulated in order to evaluate the characteristics of joint angles, moments, and reaction forces. The results show that the new exoskeleton assists both the ascent and the descent according to the measured surface electromyography (sEMG) signals, as the knee extensors are relieved by an average of 19.3%. In addition, differences in the interaction between the test persons and the system were found. This could be due to a slightly different operation of the assisting force or to the different influence of the system on the kinematics of the users.https://www.mdpi.com/2076-3417/12/17/8835biomechanicsexoskeletonstair climbingknee extensorssEMG |
| spellingShingle | Max Böhme Hans-Peter Köhler Robert Thiel Jens Jäkel Johannes Zentner Maren Witt Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing Applied Sciences biomechanics exoskeleton stair climbing knee extensors sEMG |
| title | Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing |
| title_full | Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing |
| title_fullStr | Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing |
| title_full_unstemmed | Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing |
| title_short | Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing |
| title_sort | preliminary biomechanical evaluation of a novel exoskeleton robotic system to assist stair climbing |
| topic | biomechanics exoskeleton stair climbing knee extensors sEMG |
| url | https://www.mdpi.com/2076-3417/12/17/8835 |
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