Walk Assist Exoskeletons An opportunity for activities of Daily Living Exosquelettes d’assistance à la marche une opportunité pour les activités quotidiennes Dr Ing. Mohamed Bouri Ecole Polytechnique Fédérale de Lausanne Rehabilitation and Assistive Robotics Group, RehAssist, BIOROB
General introduction Do you speak Robotics ? page 02
Robotics A multidisciplinary “Science” 3
Delta robot for pick & place operations Inventor, Reymond Clavel, EPFL 1985 4
ToolBox Combination Motor-gearbox Moment of inertia I = M . r 2 Moment of force M Gearbox i Motor � � � u page � 05
In the late ten years…. Robotics has been closest to more disciplines • Surgery and rehabilitation • Cognitive neurosciences The required skills • Gaming are more and more • Building manufacturing “MULTIDISCILINARITY” • Education
Rehabilitation with Robotics - From Robotics to Rehabilitation - From Rehabilitation To Rehabilitation Exoskeletons - From Rehabilitation Exoskeletons to Daily living. page 07
General introduction Anthropomorphic Robotics page 08
General introduction Why Robotics is a good opportunity to develop the rehabilitation techniques of tomorrow ? page 09
From an idea to a device The Lokomat …. Moving the limb …… [ref. the Lokomat from the company HOCOMA, ZH] page 010
The Motion Maker : 2 Legs orthosis + Closed loop Muscle Electrostimulation [ref. the MotionMaker, SWORTEC, CH, VS] Concept Design Prototype Product Idea Science to product…..
12 The WalkTrainer The Movie
What is about Exoskeletons 13
The dream 14
Allo Sike ….. How will you define an “EXOSKELETON” ?
Exoskeletons Definition The “Chinese Brain Teaser” An external covering or integument, especially when hard, as the shells of crustaceans (opposed to endoskeleton). [Ref, Dictionnary.com ] EXO + SKELETON External + Rigidly (attached) rigidly interfaced to the limb through dedicated components to transmit motion or torques. Classified by IFR as personal service robot or a service robot for personal use IFR, 2012
18 Biomechanical considerations • Ankle • Hip is a spherical joint • Knee is a pivot
1889 Exoskeletons The origins Since when ? 19
The first Built Exoskeltons The origins General Electric's 1966 Hardiman. the first device built. Did not work because of control problems 20
Opening the door ! Walk Assistance The HAL device from Cyberdyne
Force amplification HULC Sarcos/ Raytheon Kawasaki Power Panasonic Power HERCULE Assist Suit Loader Light 24 kg 68 kg ? 38 kg 25 kg WalkAgain for Paraplegics Many others! • The Phoenix (SUITX) / USA • The santosDumont / Brazil • Lopes /Netherlands • EMY II / France • IHMC Robotics • ROCKY / MEX • BRAINWALKER / Russia • VARILEG /SWITZERLAND 22 • NASA X1, • …… 23 kg 18 kg 39 kg 12 kg 25 kg -
Motivations • Walk as others • Re-feel the vertical posture • Parity with others • Therapeutical motivations
Dream ! Didier, the husband Daniel Dave Mac Colman, C6, Alvaro’s mother. 24 of Silke Pan IHMC Exoskeleton User Marsi Bionics user. Rex user TWIICE User. There is NO Comment The best gift you offered to me is I dream so many times of Having Children that had never seen on his happiness wearing an seeing my wife walking. watching him walking but he me walk meant so much to me. exoskeleton does not walk, Crying
Daily living activities targeted Overground Walking Transitions Upstairs - Downstairs Sit-Stand page 025
TWIICE A lightweight exoskeleton for paraplegics www.TWIICE.ch September 2017 Page Related PhD thesis 27 Tristan Vouga, Romain Baud and Jemina Fasola
TWIICE-1 for teenagers and small sized adults page To promote exoskeletons for activities of daily living for paraplegics 028
Cybathlon, october 2017 Exclusively for you
Daily Assistance - Not Mobilization
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 32
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Autonomyo An exoskeleton for subjects with Myopathy PhD Thesis of Amalric Ortlieb 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) oculopharyngeal. Reproduced from A. E. H. Emery, “The muscular dystrophies,” BMJ, vol. 317, no. 7164, pp. 991– 995, Oct. 1998. 35 www.autonomyo.ch
A subject with Myopathy ~1’600 stroke/year needing physical support 36
Did I reach my objectives ? Switch Onnnn lights…. Relevance of MULTIDISCIPLINARITY in education Life sciences are as important as techniques and technology Go forward with “Robotics”…..
Mission: Modularity and versatility Current exoskeletons are unique device that are not adapted for most users 40
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