SLIDE 1 Walk Assist Exoskeletons An opportunity for activities of Daily Living
Dr Ing. Mohamed Bouri Ecole Polytechnique Fédérale de Lausanne Rehabilitation and Assistive Robotics Group, RehAssist, BIOROB
Exosquelettes d’assistance à la marche une opportunité pour les activités quotidiennes
SLIDE 2
General introduction
page 02
Do you speak Robotics ?
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Robotics A multidisciplinary “Science”
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SLIDE 4 Delta robot
for pick & place operations
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Inventor, Reymond Clavel, EPFL 1985
SLIDE 5 ToolBox
page 05
Gearbox Combination Motor-gearbox
I = M . r2
M
Moment of inertia Moment of force
u Motor
SLIDE 6 In the late ten years…. Robotics has been closest to more disciplines
- Surgery and rehabilitation
- Cognitive neurosciences
- Gaming
- Building manufacturing
- Education
The required skills are more and more “MULTIDISCILINARITY”
SLIDE 7 Rehabilitation with Robotics
page 07
- From Robotics to Rehabilitation
- From Rehabilitation To Rehabilitation Exoskeletons
- From Rehabilitation Exoskeletons to Daily living.
SLIDE 8
page 08
Anthropomorphic Robotics
General introduction
SLIDE 9
page 09
General introduction
Why Robotics is a good opportunity to develop the rehabilitation techniques of tomorrow ?
SLIDE 10 From an idea to a device The Lokomat ….
page 010
Moving the limb ……
[ref. the Lokomat from the company HOCOMA, ZH]
SLIDE 11 The Motion Maker : 2 Legs orthosis + Closed loop Muscle Electrostimulation
Idea Concept Design Prototype Product
Science to product…..
[ref. the MotionMaker, SWORTEC, CH, VS]
SLIDE 12
The WalkTrainer
The Movie
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SLIDE 13
What is about
Exoskeletons
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The dream
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SLIDE 15
Allo Sike ….. How will you define an “EXOSKELETON” ?
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SLIDE 17 Classified by IFR as personal service robot or a service robot for personal use IFR, 2012
The “Chinese Brain Teaser” An external covering or integument, especially when hard, as the shells of crustaceans (opposed to endoskeleton). [Ref, Dictionnary.com]
Exoskeletons
Definition
EXO + SKELETON External + Rigidly (attached) rigidly interfaced to the limb through dedicated components to transmit motion or torques.
SLIDE 18 Biomechanical considerations
- Knee is a pivot
- Hip is a spherical joint
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1889 Exoskeletons
The origins Since when ?
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Exoskeltons
The origins
The first Built General Electric's 1966 Hardiman. the first device built. Did not work because of control problems
SLIDE 21
Opening the door !
Walk Assistance
The HAL device from Cyberdyne
SLIDE 22 Force amplification
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HULC Sarcos/ Raytheon Kawasaki Power Assist Suit Panasonic Power Loader Light HERCULE 24 kg 68 kg ? 38 kg 25 kg
WalkAgain for Paraplegics
23 kg 18 kg 39 kg 12 kg 25 kg
- Many others!
- The Phoenix (SUITX) / USA
- The santosDumont / Brazil
- Lopes /Netherlands
- EMY II / France
- IHMC Robotics
- ROCKY / MEX
- BRAINWALKER / Russia
- VARILEG /SWITZERLAND
- NASA X1,
- ……
SLIDE 23 Motivations
- Walk as others
- Re-feel the vertical posture
- Parity with others
- Therapeutical motivations
SLIDE 24 24
Dave Mac Colman, C6, Rex user
I dream so many times of watching him walking but he does not walk, Crying The best gift you offered to me is seeing my wife walking. Alvaro’s mother. Marsi Bionics user. Didier, the husband
TWIICE User.
Dream !
Daniel IHMC Exoskeleton User There is NO Comment
- n his happiness wearing an
exoskeleton Having Children that had never seen me walk meant so much to me.
SLIDE 25
Daily living activities
targeted
page 025 Overground Walking Transitions Sit-Stand Upstairs - Downstairs
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SLIDE 27 TWIICE A lightweight exoskeleton for paraplegics
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September 2017
Related PhD thesis
Tristan Vouga, Romain Baud and Jemina Fasola
www.TWIICE.ch
SLIDE 28
TWIICE-1 for teenagers and small sized adults
page 028 To promote exoskeletons for activities of daily living for paraplegics
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SLIDE 30 Cybathlon, october 2017 Exclusively for you
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Daily Assistance - Not Mobilization
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HiBSO Hip Ball Screw Orthosis PhD thesis of Jeremy Olivier, Romain Baud
HIP orthosis specifications
- Totally 3 DOF Orthosis
- Actuated in the sagittal plan
- Free in the other DOF
Screw transmission
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SLIDE 35 Autonomyo
An exoskeleton for subjects with Myopathy
PhD Thesis of Amalric Ortlieb 35
Figure Predominant affected area (shaded) regarding different types of dystrophy: A) Duchenne-type and Becker-type, B) Emery-Dreifuss, C) limb-girdle, D) facioscapulohumeral, E) distal and F)
- culopharyngeal. Reproduced from A. E. H. Emery, “The muscular dystrophies,” BMJ, vol. 317, no. 7164, pp. 991–
995, Oct. 1998.
www.autonomyo.ch
SLIDE 36 A subject
with Myopathy
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~1’600 stroke/year
needing physical support
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SLIDE 39 Did I reach my
Life sciences are as important as techniques and technology Go forward with “Robotics”….. Relevance of MULTIDISCIPLINARITY in education Switch Onnnn lights….
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Current exoskeletons are unique device that are not adapted for most users
Mission: Modularity and versatility
