Design Frame of a Leg Exoskeleton for Load-Carrying Augmentation
This paper presents a design frame of a leg exoskeleton. The performance of an exoskeleton was analyzed by studying a model of a linear coupled 1-DOF human-exoskeleton system. The results showed that a low-impedance, anthropomorphic and well attached mechanical structure is benefit for the control of exoskeleton, and a direct force feedback control could also be implemented to further reduce the impedance. Three kinds of applied sensor interface were compared. A leg exoskeleton called ELEBOT was developed for validating control algorithm. The ELEBOT included four main parts: mechanical structure, hydraulic actuator, sensor and control system and power. The function of such a load-carrying robot is to reduce the injuries associated with the back and lower limbs after a long heavy walk. Experiment results with a simple force controller confirmed that ELEBOT could efficiently assist people walking with 30 kg payload now.
Exoskeleton Dynamic model Force feedback control Interface Low-impedance
Heng Cao Zhengyang Ling Jun Zhu Yu Wang Wei Wang
Mechanical Engineering,East China University of Science and Technology (ECUST),Shanghai,CO 200237 Ch Mechanical Engineering,East China University of Science and Technology
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
426-431
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）