文献类型：期刊文献

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] Department of Mechanical Engineering, East China University of Science and Technology [ECUST], Shanghai, CO 200237, China; [2] Graduate Students of Mechanical Engineering, East China University of Science and Technology, China

年份：2009

起止页码：426

外文期刊名：2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

收录：EI(收录号：20101712894846)

语种：英文

外文关键词：Structural design - Exoskeleton (Robotics) - Mechanical actuators - Feedback control

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. ? 2009 IEEE.