The Berkeley Lower Extremity Exoskeleton

By H. Kazerooni. International Symposium on Field and Service Robotics, 2006

334 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Rehabilitation

View Paper: https://www.semanticscholar.org/paper/781e8bb0ccaaa20bfdc7d4e80e7b25c7aa59dce7

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In Biomedical Engineering

In Rehabilitation

Citations in the corpus

Autonomous exoskeleton reduces metabolic cost of human walking during load carriage (2014, background): “to add a mechanical bearing in parallel with the ankle joint which greatly reduces the shear forces on the foot and shank [4,18,36].”
Wearable soft sensing suit for human gait measurement (2014, background): “…evolution from rigid exoskeletons with rigid actuators (Yagn, 1890; Makinson, 1971; Kawamoto et al., 2003; Pratt et al., 2004; Guizzo and Goldstein, 2005; Kazerooni and Steger, 2006; Walsh et al., 2007) to rigid exoskeletons with soft pneumatic actuators (Yamamoto et al., 2003; Tsuji et al., 2013).”
A biologically inspired soft exosuit for walking assistance (2015, background): “These devices off-load the wearer, bypassing their musculature (Garcia et al, 2002; Kazerooni and Steger, 2006; Walsh et al, 2007).”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, background): “Nowadays they are addressed as tools to relieve the repetitive and heavy rehabilitation work of physical therapists while improving the (neurological or orthopedic) patient's recovery efficacy – Loko- Mat [4], LOPES [5]; they are also aiming to help paraplegic or quadriplegic people to regain locomo”
Stronger, Smarter, Softer: Next-Generation Wearable Robots (2014, background): “Other approaches have been to assist with load carriage by providing a parallel path to the ground, thereby offloading the wearer’s musculature [10]– [12], and some systems also provide gait rehabilitation in conjunction with a treadmill [6], [13], [14].”
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art (2008, background): “Yagn's running aid [13], General Electric's Hardiman [18], and the University of California at Berkeley's BLEEX exoskeleton [23] (image credit Prof. Homayoon Kazerooni). was reportedly never even powered up with a human inside.”
A Human--Exoskeleton Interface Utilizing Electromyography (2008, background): “By contributing a certain share of these torques through the actuation of the exoskeleton, the operator is relieved of some of the load [2].”
An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot (2012, methodology): “The inverse model of the exoskeleton robot can be used to derive the joint torques [24].”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, positive): “Many classical control strategies employ negative feedback, though the Berkeley Lower Extremity Exoskeleton (BLEEX) employs a positive feedback loop [220,221].”