{"id":541,"date":"2025-04-02T22:35:19","date_gmt":"2025-04-02T22:35:19","guid":{"rendered":"https:\/\/academic.csuohio.edu\/romadyc\/?page_id=541"},"modified":"2025-04-15T18:22:49","modified_gmt":"2025-04-15T18:22:49","slug":"hardware-development","status":"publish","type":"page","link":"https:\/\/academic.csuohio.edu\/romadyc\/hardware-development\/","title":{"rendered":"Hardware Development"},"content":{"rendered":"

Hardware Development<\/h2>\n\n
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Anthropometrically Parameterized Lower-Limb Exoskeleton<\/h4>\n\n\n\n
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The Anthropometrically Parameterized Lower-Limb Exoskeleton was a bilateral hip-knee device, with each joint containing a custom actuator cassette. The frame consisted of rigid, 3D-printed linkages that could be customized to fit individual patients. The belted three-stage actuator weighed 0.60 kg and delivered up to 4.2 Nm of continuous torque, 17.2 Nm of peak torque, and speeds of 480 deg\/s.<\/p>\n\n\n\n

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V2 Exoskeleton<\/h4>\n\n\n\n
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The V2 Exoskeleton also consisted of a bilateral hip-knee device, but with an improved joint actuator. Rather than requiring a custom frame for each user, this device featured an adjustable frame that was modified to fit the anthropometrics of pediatric users. The chain-cable hybrid two-stage actuator weighed 0.45 kg and delivered 5.9 Nm of continuous torque, 21.1 Nm of peak torque, and speeds up to 1176 deg\/s.<\/p>\n\n\n\n

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Cable-Driven Joint System<\/h4>\n\n\n\n
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The Cable-Driven Joint System aimed to reduce exoskeleton weight by removing the actuator motor and gearing from the worn device. A Bowden-cable transmission was used to deliver assistive torques from a mobile, clinician-held actuation unit to a unilateral knee exoskeleton. The driven joint weighed 0.30 kg and provided up to 5.9 Nm of continuous torque, 20 Nm of peak torque, and speeds up to 410 deg\/s.<\/p>\n\n\n\n

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Anthropometrically Parameterized Lower-Limb Exoskeleton The Anthropometrically Parameterized Lower-Limb Exoskeleton was a bilateral hip-knee device, with each joint containing a custom actuator cassette. The frame consisted of rigid, 3D-printed linkages that could be customized to fit individual patients. The belted three-stage actuator weighed 0.60 kg and delivered up to 4.2 Nm of continuous torque, 17.2 Nm…<\/p>\n","protected":false},"author":37,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","footnotes":""},"class_list":["post-541","page","type-page","status-publish","hentry"],"featured_image_src":null,"_links":{"self":[{"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/pages\/541","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/users\/37"}],"replies":[{"embeddable":true,"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/comments?post=541"}],"version-history":[{"count":23,"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/pages\/541\/revisions"}],"predecessor-version":[{"id":670,"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/pages\/541\/revisions\/670"}],"wp:attachment":[{"href":"https:\/\/academic.csuohio.edu\/romadyc\/wp-json\/wp\/v2\/media?parent=541"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}