A Variable Stiffness Exosuit for Walking Assistance

Robotic exoskeleton takes an important role in walking assistance for subjects with lower extremity impairment. However, most of the existing robotic exoskeletons are bulky and complicated in the mechanical structure, placing a large load on the wearer. In this paper, a soft exosuit with twisted str...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 2402; no. 1; pp. 12033 - 12039
Main Authors Huang, Kaizhen, Xu, Jiajun, Lu, Yonghua, Xu, Linsen
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.12.2022
Subjects
Actuators
Dynamic models
Exoskeletons
Physics
Robot dynamics
Stiffness
Walking
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Summary:Robotic exoskeleton takes an important role in walking assistance for subjects with lower extremity impairment. However, most of the existing robotic exoskeletons are bulky and complicated in the mechanical structure, placing a large load on the wearer. In this paper, a soft exosuit with twisted string actuators (TSAs) is designed for walking assistance. The analytic model of the TSA is derived to prove its characteristic of variable stiffness, benefited from which, flexible and compliant assistive torque can be generated to knee joints whilst walking. Furthermore, a human-robot coupling dynamic model is established, and an admittance control strategy is utilized to improve the trajectory tracking performance. Finally, simulations are conducted to verify the proposed robot system.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2402/1/012033