A novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of the novel system to determine its effectiveness in use. For this purpose, three test persons were biomechanically investigated, who performed stair ascents and descents with and without the exoskeleton. Kinematics, kinetics, and muscle activity of the knee extensors were measured. The measured data were biomechanically simulated in order to evaluate the characteristics of joint angles, moments, and reaction forces. The results show that the new exoskeleton assists both the ascent and the descent according to the measured surface electromyography (sEMG) signals, as the knee extensors are relieved by an average of 19.3%. In addition, differences in the interaction between the test persons and the system were found. This could be due to a slightly different operation of the assisting force or to the different influence of the system on the kinematics of the users.

Various types of magnetic nanoparticles have been developed for a range of medical applications and some have the potential to treat diseases. In this paper, a new method for controlling the position of these magnetic particles by changing the magnetic field surrounding them using three Halbach ringsis investigated with the aid of a simulation. The inner ring controls the direction, and the position of the two outer rings can keep the group of particles together. In the simulation, the magnetic field is calculated analytically for each time step and the movement of the particles is simulated by applying the corresponding forces. These result from the manipulable external magnetic field, the magnetic field between the particles, the Lennard-Jones potential to model attractive interactions between the particles and the drag. In the simulation, we show how the particles are manipulated using a Levenberg-Marquard algorithm and develop a closedloop control for the position of the grouped particles by manipulating the magnetic field inside the Halbach rings by changing the angular position of these rings.