Design and development of hardware platform for fully-assistive lower leg exoskeleton
Bibliographic record
Abstract
The abundance of cheap, portable computing has allowed for complex applications of robotics, especially in the medical rehabilitation field. The emergence of wearable robotics which simulate the movement of healthy individuals is seen as a new option for treating and rehabilitating individuals with paraplegia and other motor disorders. This thesis presents the design and implementation of a miniaturized, low-power, extensible hardware platform for control of a fully-assistive lower-body exoskeleton. A preliminary ARM Cortex-M4-based control platform using modular COTS parts was developed and implemented in a medical exoskeleton (the Bionik Laboratories’ ARKE) and was evaluated through human medical trials. Clinical feedback was used to drive the design of a new platform. A functional prototype of the design was constructed and retrofitted onto an exoskeleton. Data acquisition and MATLAB was then used to evaluate and compare the performance of the two designs. A size reduction of 29% is achieved.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".