27-02-2015, 08:36 PM
full report of powered exoskeleton with slides
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powered exoskeleton seminar
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full report of powered exoskeleton with slides
27-03-2017, 01:14 PM
A Powered exoskeleton (also known as powered armor, power armor, exoframe, hardsuit, or exosuit) is a portable usable machine that is powered by a system of electric motors, tires, levers, hydraulics, or a combination of technologies that allow Movement of the limbs with greater strength and endurance.
The earliest exoskeleton device was a system of walking apparatus, jumping and assisted running developed in 1890 by a Russian named Nicholas Yagin. As a unit, the device used compressed gas bags to store energy that would help with movement, although it was passive in operation and required human energy. In 1917, the United States inventor Leslie C. Kelley developed what he called a pedomotor, which ran on steam power with artificial ligaments acting in parallel to the movements of the users. With the pedomotor, the energy could be generated apart from the user.
The first true exoskeleton in the sense of being a mobile machine integrated with human movements was co-developed by General Electric and the United States Armed Forces in the 1960s. The suit was named Hardiman, and raised 110 kilograms (250 pounds) feels like lifting 4.5 kilograms (10 pounds). Driven by hydraulics and electricity, the suit allowed the user to amplify his strength by a factor of 25, so that lifting 25 kilograms was as easy as lifting one kilogram without the suit. A bent force feedback feature allows the user to feel the forces and objects being manipulated.
While the general idea sounded promising, the current Hardiman had important limitations. It was impractical, due to its weight of 680 kilograms (1,500 pounds). Another issue is that it is a master-slave system, where the operator is in a master suit, which, in turn, is inside the slave suit that responds to the master and manages the workload. This type of multi-layer physical operation may work fine, but responds more slowly than a single physical layer. When the goal is physical improvement, response time is important. Its idle speed of 0.76 meters per second (2.5 ft / s) further limited practical uses. The project was not successful. Any attempt to use the entire exoskeleton resulted in a violent uncontrolled movement, and as a result was never tested with a human inside. Further research was concentrated on one arm. Although it was able to lift its specified load of 340 kilograms (750 pounds), it weighed three-quarters of a ton, just over twice the load to lift. Without having all the components to work together, the practical applications for the Hardiman project were limited.
The beginning of the development of humanoid robotics coincided with the beginning of the development of the first active exoskeletons of the world in the Mihailo Pupin Institute in 1969, under the direction of Prof. Vukobratovic. Locomotion systems with legs were developed first. In addition, the first theory of these systems was developed in the same institute, within the framework of active exoskeletons. Therefore, it can be said that active exoskeletons were the predecessors of modern, high-performance humanoid robots. Current active exoskeletons are developed as systems to enhance the capabilities of the natural human skeletal system. The most successful version of an active exoskeleton for the rehabilitation of paraplegics and similar disabled, pneumatically driven and electronically programmed, was performed and tested at the Orthopedic Clinic in Belgrade in 1972. A specimen was delivered to the Central Institute of Traumatology and Orthopedics in Moscow On interstate scientific cooperation between the USSR and Yugoslavia. Since 1991 the exoskeleton belongs to the basic fund of the Polytechnic Museum (Moscow) and the State Fund of Museums of the Russian Federation. It is shown within the framework of the exhibition of the Museum dedicated to the development of automation and cybernetics.
The Alamos Laboratories worked on an exoskeleton project in the 1960s called Project Pitman. In 1986, an exoskeleton prototype called LIFESUIT was created by Monty Reed, a US Army Ranger who had broken his back in a parachute accident. While recovering in the hospital, he read Robert Heinlein Starship Troopers and Heinlein's description of Mobile Infantry Power Suits, designed LIFESUIT, and wrote letters to the military about his plans for LIFESUIT. In 2001 LIFESUIT One (LSI) was built. In 2003 LS6 was able to record and play a human step. In 2005 LS12 was carried on a foot race known as St. Patrick's Day "dashed in Seattle, Washington. Monty Reed and LIFESUIT XII set the record of the Earth's speed distance for walking in the robot plays. The current LIFESUIT 14 prototype can walk 1.6 km (1 mi) with a full load and lift 92 kg (203 lb) for the user.
In January 2007, Newsweek reported that the Pentagon had awarded development funds to the University of Texas at Dallas nanotechnologist Ray Baughman to develop military-grade artificial electroactive polymers. These electrically contractive fibers are intended to increase the weight-to-weight ratio of the movement systems in military armor.
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