Adding Compliant Joints and Segmented Foot to Bio-inspired Below-knee Exoskeleton

摘要：

This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a belowknee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.

作者: Jinying Zhu Qining Wang Yan Huang Long Wang

作者单位: Intelligent Control Laboratory,College of Engineering,Peking University,Beijing 100871,China

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 605-610

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）