Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)(2019)

引用 7|浏览5
暂无评分
摘要
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.
更多
查看译文
关键词
Biomechanical Phenomena,Equipment Design,Exoskeleton Device,Humans,Lower Extremity,Robotics,Walking
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要