Development of an Instrumented and Passive Exoskeleton for the Lower Limb Rehabilitation

In this paper we describe the design and evaluation of a passive lower limb assistive exoskeleton based on omnidirectional rehabilitation vehicle. According to the leg dynamics during assisted walking, we optimize the design parameters to make the lower limb obtain the most positive energy. We emplo...

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Bibliographic Details
Published in2009 International Association of Computer Science and Information Technology - Spring Conference pp. 521 - 525
Main Authors Qiuhao Zhang, Kechao Tian, Hongche Guo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2009
Subjects
Design optimization
Exoskeletons
Hip
Instruments
Knee
Legged locomotion
MACCEPA
Medical robotics
passive exoskeleton
rehabilitation
Rehabilitation robotics
Springs
Vehicle dynamics
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Summary:In this paper we describe the design and evaluation of a passive lower limb assistive exoskeleton based on omnidirectional rehabilitation vehicle. According to the leg dynamics during assisted walking, we optimize the design parameters to make the lower limb obtain the most positive energy. We employ MACCEPA (mechanically adjustable compliance and controllable equilibrium position actuator) in design which generates the constant torque in knee joint. Experiments were performed on injured people and their results verify the system effect in reducing physical power.
ISBN:0769536530
9780769536538
DOI:10.1109/IACSIT-SC.2009.78