文献类型：会议论文

英文题名：Design Frame of a Leg Exoskeleton for Load-Carrying Augmentation

作者：Cao, Heng[1];Ling, Zhengyang[2];Zhu, Jun[2];Wang, Yu[2];Wang, Wei[2]

机构：[1]E China Univ Sci & Technol, Shanghai 200237, CO, Peoples R China;[2]E China Univ Sci & Technol, Grad Studies Mech Engn, Xuhui, Peoples R China

会议论文集：IEEE International Conference on Robotics and Biomimetics (ROBIO)

会议日期：DEC 19-23, 2009

会议地点：Guilin, PEOPLES R CHINA

语种：英文

外文关键词：Exoskeleton; Dynamic model; Force feedback control; Interface; Low-impedance

摘要：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.