hig.sePublications
Change search
Refine search result
1 - 6 of 6
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard-cite-them-right
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • sv-SE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • de-DE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Bai, S.
    et al.
    Department of Materials and Production, Aalborg University, Aalborg, Denmark.
    Christensen, S.
    Department of Materials and Production, Aalborg University, Aalborg, Denmark.
    Islam, M.
    Department of Materials and Production, Aalborg University, Aalborg, Denmark.
    Rafique, Sajid
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electrical Engineering, Mathematics and Science, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electrical Engineering, Mathematics and Science, Electronics.
    Mattsson, Per
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electrical Engineering, Mathematics and Science, Electronics.
    O’Sullivan, L.
    University of Limerick, Limerick, Ireland.
    Power, V.
    University of Limerick, Limerick, Ireland.
    Development and testing of full-body exoskeleton AXO-SUIT for physical assistance of the elderly2019In: Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy / [ed] Maria Chiara Carrozza, Silvestro Micera, José L. Pons, Cham: Springer, 2019, Vol. 22, p. 180-184Conference paper (Refereed)
    Abstract [en]

    This paper presents the design and preliminary testing of a full-body assistive exoskeleton AXO-SUIT for older adults. AXO-SUIT is a system of modular exoskeletons consisting of lower-body and upper-body modules, and their combination as full body as well to provide flexible physical assistance as needed. The full-body exoskeleton comprises 27 degrees of freedom, of which 17 are passive and 10 active, which is able to assist people in walking, standing, carrying and handling tasks. In the paper, design of the AXO-SUIT is described. End-user testing results are presented to show the effectiveness of the exoskeleton in providing flexible physical assistance.

  • 2.
    Haider, Usman
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Nyoman, Indrawibawa I.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Kim, Chanki
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Coronado, J. L.
    University of Polytechnic, Cartagena, Spain.
    Modular EXO-LEGS for mobility of elderly persons2017In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016, Singapore: World Scientific, 2017, p. 851-859Conference paper (Refereed)
    Abstract [en]

    The paper presents details of the AAL Call 4 EXO-LEGS project aimed at developing and testing lower body assistive exoskeletons to help elderly persons perform daily living activities independently such as stable standing, sit-to-stand transfers and straight walking. The key components needed have been realized using mobility requirements and design preferences provided by an end user group comprising 118 members via 5 surveys. Modular human-centric concepts are followed for mechanical design, sensing and actuation, system integration, etc., to realize a BASIC exoskeleton prototype able to provide up to 30% power to assist the human perform the intended motions. Two ethical approvals have been obtained to involve end users in the research, development and test phases of the project. To date, 5 test subjects have tested the exoskeleton prototype in walking and the sit-to-stand test; summary results are presented in this paper.

  • 3.
    Masud, Nauman
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. Department of Robotics, Perception and Learning, Royal Institute of Technology, Stockholm, Sweden.
    Smith, Christian
    Department of Robotics, Perception and Learning, Royal Institute of Technology, Stockholm, Sweden.
    Isaksson, Magnus
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Disturbance observer based dynamic load torque compensator for assistive exoskeletons2018In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 54, p. 78-93Article in journal (Refereed)
    Abstract [en]

    In assistive robotics applications, the human limb is attached intimately to the robotic exoskeleton. The coupled dynamics of the human-exoskeleton system are highly nonlinear and uncertain, and effectively appear as uncertain load-torques at the joint actuators of the exoskeleton. This uncertainty makes the application of standard computed torque techniques quite challenging. Furthermore, the need for safe human interaction severely limits the gear ratio of the actuators. With small gear ratios, the uncertain joint load-torques cannot be ignored and need to be effectively compensated. A novel disturbance observer based dynamic load-torque compensator is hereby proposed and analysed for the current controlled DC-drive actuators of the exoskeleton, to effectively compensate the said uncertain load-torques at the joint level. The feedforward dynamic load-torque compensator is proposed based on the higher order dynamic model of the current controlled DC-drive. The dynamic load-torque compensator based current controlled DC-drive is then combined with a tailored feedback disturbance observer to further improve the compensation performance in the presence of drive parametric uncertainty. The proposed compensator structure is shown both theoretically and practically to give significantly improved performance w.r.t disturbance observer compensator alone and classical static load-torque compensator, for rated load-torque frequencies up to 1.6 Hz, which is a typical joint frequency bound for normal daily activities for elderly. It is also shown theoretically that the proposed compensator achieves the improved performance with comparable reference current requirement for the current controlled DC-drive.

  • 4.
    O’Sullivan, Leonard
    et al.
    Design Factors Reserach Group, University of Limerick, Limerick, Ireland.
    Power, Valerie
    Design Factors Reserach Group, University of Limerick, Limerick, Ireland.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Christensen, Simon
    Aalborg University, Aalborg, Denmark.
    Bai, Shaoping
    Aalborg University, Aalborg, Denmark.
    Cuypers, Ludo
    OMmeto, Hamburg, Belgium.
    D’Have, Michel
    OMmeto, Hamburg, Belgium.
    Voncke, Kristl
    University Hospital, Ghent, Belgium.
    End user needs elicitation for a full-body exoskeleton to assist the elderly2015In: 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences / [ed] Ahram, T., Karwowski, W. and Schmorrow, D., Amsterdam: Elsevier, 2015, p. 1403-1409Conference paper (Refereed)
    Abstract [en]

    For ageing individuals, declining physical functional capacity can lead to loss of independence, decreased engagement in the community and reductions in quality of life. As such, solutions that can effectively and affordably supplement older adults’ diminishing functional capacity, and thus facilitate maintained independence and social participation over time are urgently required. The AXO-SUIT project - funded by the European Commission under the Ambient Assisted Living Joint Programme is developing assistive exoskeleton devices for older adults with impaired mobility and/or difficulties in performingactivities of daily living. This paper will report on-going research which aims to identify end user needs, and thus provide inputs to specify the design requirements of the AXO-SUIT exoskeletons. The objectives of this initial questionnaire study are to identify the functional assistance requirements of potential end users of the AXO-SUIT in terms of mobility, reaching and handling, and full-body support for performing activities of daily livingat home and in the wider community. The end user requirements identified will be used to formulate functional specifications for the AXO-SUIT lower-body and upper-body sub-systems, which will ensure that the AXO-SUIT prototypes will provide for the specific mobility, reaching and handling needs of end users, and also to provide useful insights into the perspectives and needs of end users in relation to assistive exoskeletons in general.

  • 5.
    Virk, Gurvinder Singh
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Indrawibawa, I. Nyoman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Thekkeparanipumadom, Rakesh Krishnan
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Exo-legs for elderly persons2014In: Mobile service robotics / [ed] Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk, Singapore: World Scientific, 2014, p. 85-92Conference paper (Refereed)
    Abstract [en]

    The paper presents a research update on the AAL Call 4 EXO-LEGS project aimed at developing lower-body mobility exoskeletons to assist elderly persons to stay independent in their normal daily living activities for as long as possible. The important movement functionalities and key design issues to be included in the process are identified via specifically developed questionnaires and responses from a pan-European end user group set up as part of the project. The user requirements are used together with the recently published ISO safety requirements for personal care robots to perform targeted technical research in the areas of human gait analysis, modelling and simulation, mechanical engineering, embedded system design, and ergonomic user interfacing.

  • 6.
    Virk, Gurvinder Singh
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Nyoman, Indrawibawa I.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Mamaev, I.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Hopfgarten, P.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Hein, B.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Design of EXO-LEGS exoskeletons2016In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2016, p. 59-66Conference paper (Refereed)
    Abstract [en]

    The paper describes the design details for realising the EXO-LEGS assistive exoskeletons for Ambient Assisted Living (AAL) applications based on modelling and simulation studies performed for key mobility functionalities in activities for daily living such as stable standing in open space and straight walking. The results provide the basis for selecting sensors and actuators to develop the needed assistive exoskeletons to help the elderly to stay active and independent for as long as possible.

1 - 6 of 6
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard-cite-them-right
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • sv-SE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • de-DE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf