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Exoskeletons for Human Performance Augmentation

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Springer Handbook of Robotics

Abstract

Although autonomous robotic systems perform remarkably in structured environments (e.g., factories), integrated human–robotic systems are superior to any autonomous robotic systems in unstructured environments that demand significant adaptation. The technology associated with exoskeleton systems and human power augmentation can be divided into lower-extremity exoskeletons and upper-extremity exoskeletons. The reason for this was twofold; firstly, one could envision a great many applications for either a stand-alone lower- or upper-extremity exoskeleton in the immediate future. Secondly, and more importantly for the division, is that these exoskeletons are in their early stages, and further research still needs to be conducted to ensure that the upper-extremity exoskeleton and lower-extremity exoskeleton can function well independently before one can venture an attempt to integrate them. This chapter first gives a description of the upper-extremity exoskeleton efforts and then will proceed with the more detailed description of the lower-extremity exoskeleton.

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Abbreviations

BLEEX:

Berkeley lower-extremity exoskeleton

CGA:

clinical gait analysis

DOF:

degree of freedom

EMG:

electromyography

FSR:

force sensing resistor

HAL:

hybrid assisted limb

IAD:

intelligent assist device

RF:

radiofrequency

US:

ultrasound

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Authors and Affiliations

  1. Berkeley Robotics and Human Engineering Laboratory, University of California at Berkeley, 5124 Etcheverry Hall, 94720-1740, Berkeley, CA, USA

    Homayoon Kazerooni Dr.

Authors
  1. Homayoon Kazerooni Dr.
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Correspondence to Homayoon Kazerooni Dr. .

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Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Kazerooni, H. (2008). Exoskeletons for Human Performance Augmentation. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_34

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_34

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

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