Design of an exoskeleton with minimized energy consumption based on using elastic and dissipative elements

• Published in: International journal of control, automation, and systems Vol. 13; no. 2; pp. 463 - 474
• Main Authors: Kim, Hyo-gon, Lee, Jong-won, Jang, Jaeho, Park, Sangdeok, Han, Changsoo
• Format: Journal Article
• Language: English
• Published: Heidelberg Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2015; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuation; Ankle; Control; Control systems; Design engineering; Design specifications; Dissipation; Energy consumption; Engineering; Exoskeletons; Hydraulics; Knee; Knees; Load; Mechatronics; Regular Papers; Robotics; Robots; Springs (elastic); Studies; Walking; 제어계측공학; hydraulic system; SDA; exoskeleton; PESDA; elastic element; Dissipative element
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-013-0386-0

This study proposes the design of an exoskeleton featuring minimized energy consumption during stand-to-sit and sit-to-stand (STS) motion and walking while carrying a load through the utilization of elastic and dissipative elements. In order to determine which phase and joint can utilize elastic and dissipative elements, we analyzed a human’s walk and STS motions. With this human motion data, we propose an elastic element for hip adduction and abduction (Ad/Ab), series dissipative actuation (SDA) using a semi-active hydraulic system for hip flexion and extension (Fl/Ex) and parallel elastic and series dissipative actuation (PESDA) for the knee Fl/Ex, which is combined with the SDA and the parallel elastic element. The effect of the developed exoskeleton (EXO) with a hip Ad/Ab spring, hip SDA and knee PESDA was evaluated by measuring the user’s ground reaction force (GRF). When wearing the EXO with a hip Ad/Ab spring, hip SDA and knee PESDA, the subject’s GRF was smaller as compared to when the subject was not wearing the EXO while walking and performing the STS motion under a 20-kg load condition, except during the heel strike of the walk motion.