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 biomechan-
ically 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.
| Identifer | oai:union.ndltd.org:DRESDEN/oai:qucosa:de:qucosa:90633 |
| Date | 21 March 2024 |
| Creators | Böhme, Max, Köhler, Hans-Peter, Thiel, Robert, Jäkel, Jens, Zentner, Johannes, Witt, Maren |
| Publisher | MDPI |
| Source Sets | Hochschulschriftenserver (HSSS) der SLUB Dresden |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/publishedVersion, doc-type:article, info:eu-repo/semantics/article, doc-type:Text |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | 2076-3417, 10.3390/app12178835 |
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