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      Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics 

      Multibody Analysis of a 3D Human Model with Trunk Exoskeleton for Industrial Applications

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          Most cited references 14

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          ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion—part I: ankle, hip, and spine

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            Neural Data-Driven Musculoskeletal Modeling for Personalized Neurorehabilitation Technologies.

            The development of neurorehabilitation technologies requires the profound understanding of the mechanisms underlying an individual's motor ability and impairment. A major factor limiting this understanding is the difficulty of bridging between events taking place at the neurophysiologic level (i.e., motor neuron firings) with those emerging at the musculoskeletal level (i.e. joint actuation), in vivo in the intact moving human. This review presents emerging model-based methodologies for filling this gap that are promising for developing clinically viable technologies.
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              Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation

              A shared design goal for most robotic lower limb exoskeletons is to reduce the metabolic cost of locomotion for the user. Despite this, only a limited amount of devices was able to actually reduce user metabolic consumption. Preservation of the natural motion kinematics was defined as an important requirement for a device to be metabolically beneficial. This requires the inclusion of all human degrees of freedom (DOF) in a design, as well as perfect alignment of the rotation axes. As perfect alignment is impossible, compensation for misalignment effects should be provided. A misalignment compensation mechanism for a 3-DOF system is presented in this paper. It is validated by the implementation in a bilateral hip exoskeleton, resulting in a compact and lightweight device that can be donned fast and autonomously, with a minimum of required adaptations. Extensive testing of the prototype has shown that hip range of motion of the user is maintained while wearing the device and this for all three hip DOFs. This allowed the users to maintain their natural motion patterns when they are walking with the novel hip exoskeleton.
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                Author and book information

                Book
                978-3-030-23131-6
                978-3-030-23132-3
                2020
                10.1007/978-3-030-23132-3
                Book Chapter
                2020
                June 28 2019
                : 43-51
                10.1007/978-3-030-23132-3_6

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