Powered ExoskeletonsPowered Exoskeletons

AgendaAgenda What is Powered Exoskeleton?What is Powered Exoskeleton? HistoryHistory Making Exoskeletons PracticalMaking Exoskeletons Practical EMG ControlEMG Control Neural ControlNeural Control Brain ControlBrain Control Exoskeletons in developmentExoskeletons in development Control MethodsControl Methods AdvantagesAdvantages DisadvantagesDisadvantages Advancements and the FutureAdvancements and the Future

What are Powered What are Powered Exoskeleton?Exoskeleton?

Powered Exoskeleton are Powered Exoskeleton are people-oriented exoskeleton people-oriented exoskeleton designed to be worn. These designed to be worn. These exoskeleton are designed around the exoskeleton are designed around the function and shape of the human function and shape of the human body and the human will be able to body and the human will be able to control the robotic limbs. control the robotic limbs.

HistoryHistory

1965: General Electric Research & Development: Hardiman 11965: General Electric Research & Development: Hardiman 1• Weighed 1500 lbsWeighed 1500 lbs• Could lift 750 lbsCould lift 750 lbs• Attempting to operate both legs at once leads to “violent and Attempting to operate both legs at once leads to “violent and

uncontrollable motion”uncontrollable motion” . .

• Problem was not just size & weight: key Problem was not just size & weight: key problem was controlproblem was control

• Hardiman controlled by operator’s arms, Hardiman controlled by operator’s arms, hands, and legs pushing against switcheshands, and legs pushing against switches

• The delay between the operators intent and The delay between the operators intent and the exoskeleton’s motion made dynamic the exoskeleton’s motion made dynamic balance difficult or impossiblebalance difficult or impossible

Making Exoskeletons PracticalMaking Exoskeletons Practical

Intent to

move

Muscles start

contracting

Limb moves

Switch Closes

Robot moves

EMG ControlEMG Control

Can detect early activation of muscle using Can detect early activation of muscle using electromyographelectromyograph

Modulate robot motion to move at Modulate robot motion to move at precisely the same rate the real limb precisely the same rate the real limb movesmoves

Intent to

move

Muscles start

contracting

Limb moves

Robot moves

Neural ControlNeural Control

Detect neural impulse at limb stumpDetect neural impulse at limb stump Modulate robot motion to move at Modulate robot motion to move at

precisely the same rate a real limb would precisely the same rate a real limb would movemove

Intent to

move

Muscles start

contracting

Robot moves

Brain ControlBrain Control• Detect pattern of neural activity in brain that Detect pattern of neural activity in brain that

precedes motionprecedes motion• Simulate transmission to muscle, contraction, Simulate transmission to muscle, contraction,

limb movementlimb movement• Timing experiments show that movement intent Timing experiments show that movement intent

pattern appears pattern appears beforebefore the subject is the subject is consciously aware of decision to move limb!consciously aware of decision to move limb!

Intent to

move

Robot moves

Control MethodsControl Methods Linear mapping between EMG muscle activation and force Linear mapping between EMG muscle activation and force

of robot jointsof robot joints• User must learn mapping through practiceUser must learn mapping through practice• Suitable for small number of degrees of freedomSuitable for small number of degrees of freedom

Works well for 1 or 2 degrees of freedom (e.g., Works well for 1 or 2 degrees of freedom (e.g., pincher grip)pincher grip)

Human arm: 7 degreesHuman arm: 7 degrees Human hand: 20 degreesHuman hand: 20 degrees

Neuronal decodingNeuronal decoding• Determine how a “population” of neurons in the cortex Determine how a “population” of neurons in the cortex

encode motion intent: speed, direction, forceencode motion intent: speed, direction, force• Decode neuron activation, e.g. using an artificial neural Decode neuron activation, e.g. using an artificial neural

networknetwork

ApplictionsApplictions

Disruptive TechnologyDisruptive Technology DARPADARPA ““Haptic” TechnologyHaptic” Technology Military Benefits of an ExoskeletonMilitary Benefits of an Exoskeleton

Disruptive TechnologyDisruptive Technology Wearable robots are most definitely a disruptive Wearable robots are most definitely a disruptive

technology. If and when these exoskeletons are technology. If and when these exoskeletons are put into use in the medical and/or military fields, put into use in the medical and/or military fields, we will see life-altering changes to everyone we will see life-altering changes to everyone involved.. involved..

Military Benefits of an ExoskeletonMilitary Benefits of an Exoskeleton

The exoskeleton will protect a soldier from enemy The exoskeleton will protect a soldier from enemy fire by repelling bullets. fire by repelling bullets.

It will also allow the soldier to do more without It will also allow the soldier to do more without getting as tired. This will increase the soldiers getting as tired. This will increase the soldiers efficiency which should allow us to decrease the efficiency which should allow us to decrease the amount of soldiers used which in turn would of amount of soldiers used which in turn would of course prevent the casualties of many soldiers. course prevent the casualties of many soldiers.

If the advancements are made, an exoskeleton If the advancements are made, an exoskeleton may even be able to carry a wounded soldier may even be able to carry a wounded soldier back to base, once again possibly preventing the back to base, once again possibly preventing the death of a soldier. death of a soldier.

You cannot measure the importance of a human You cannot measure the importance of a human life and these wearable robots should be able to life and these wearable robots should be able to prevent us from having to when it comes to the prevent us from having to when it comes to the military.military.

““Haptic” TechnologyHaptic” Technology ““Haptic” technology provides an interface with Haptic” technology provides an interface with

the user through the sense of touch, and using the user through the sense of touch, and using the exoskeleton as a haptic device has many the exoskeleton as a haptic device has many applications in scientific visualization and applications in scientific visualization and manipulation, gaming, and simulation. manipulation, gaming, and simulation.

E.g. Surgery:- handle from remote location.E.g. Surgery:- handle from remote location.

Exoskeletons in developmentExoskeletons in development

In 2004, Berkeley Lower In 2004, Berkeley Lower Extremity Extremity Exoskeleton(BLEEX) was Exoskeleton(BLEEX) was the most advanced the most advanced exoskeletonexoskeleton

The Landwalker The Landwalker Exoskeleton was Exoskeleton was created by Japanese created by Japanese Robotics Manufacturer Robotics Manufacturer Sakakibara-Kikai.Sakakibara-Kikai.

It stands at 3.4 meters It stands at 3.4 meters

tall and weighs an tall and weighs an astonishing 1000 astonishing 1000 kilograms. kilograms.

The HAL5, short for The HAL5, short for hybrid assistive limb.hybrid assistive limb.

The HAL5 mimics The HAL5 mimics every move of its user every move of its user while weighing so little while weighing so little it is unnoticeableit is unnoticeable..

This exoskeleton is This exoskeleton is called the Trojan and called the Trojan and is being worked on by is being worked on by inventor Troy inventor Troy Hurtubise. Hurtubise.

It is the first ballistic It is the first ballistic proof exoskeleton. proof exoskeleton.

AdvantagesAdvantages

It is helping a disabled person to walk.It is helping a disabled person to walk. Helping in the physical therapy of a person who Helping in the physical therapy of a person who

recently suffered a stroke.recently suffered a stroke. Using an exoskeleton to perform surgery while Using an exoskeleton to perform surgery while

the surgeon controls the robot.the surgeon controls the robot. Allowing a soldier to lift heavy objects with no Allowing a soldier to lift heavy objects with no

problem at all.problem at all. Protecting soldier from bullets, knives, clubs Protecting soldier from bullets, knives, clubs

and small explosivesand small explosives..

DisadvantagesDisadvantages

If the enemies get the knowledge of our If the enemies get the knowledge of our exoskeleton then they easily use this exoskeleton then they easily use this technique for our destruction. technique for our destruction.

More costly.More costly.

Advancements and the FutureAdvancements and the Future The advancements of the technology in the The advancements of the technology in the

Wearable Robots/Exoskeleton field have been Wearable Robots/Exoskeleton field have been booming in the past 5 years. booming in the past 5 years.

These exoskeletons have the potential to be life-These exoskeletons have the potential to be life-altering. altering.

Within the next 5 to 10 years we could possibly Within the next 5 to 10 years we could possibly see these exoskeletons out on the battlefield see these exoskeletons out on the battlefield helping, as well as, protecting our soldiers. helping, as well as, protecting our soldiers.

Further down the road we could also see robotic Further down the road we could also see robotic surgeons in operating rooms being controlled by surgeons in operating rooms being controlled by surgeons in another room. surgeons in another room.

But most likely, even sooner than both of those But most likely, even sooner than both of those options, is the potential to see these exoskeletons options, is the potential to see these exoskeletons helping the disabled as well as people with helping the disabled as well as people with degenerative diseases. . degenerative diseases. .