A Weight-Supporting Wearable Robot for Walking Assist

To realize an effective and universal walking assist robot, we developed a weight-supporting wearable Human-Machine system, namely exoskeleton. Based on human hinge model and human kinesiology analysis, we designed a novel mechanical structure with body weight supporting. Then, the sensor and actuat...

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Bibliographic Details
Published in2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics Vol. 2; pp. 416 - 419
Main Authors Wulong Huang, Xin'an Wang, Mo Wang, Yucheng Tian, Jing Li, Zheng Xie
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2015
Subjects
Actuators
Exoskeleton
Foot
Force
Human-Machine system
Legged locomotion
Robot sensing systems
Torque
Walking assist
Wearable robot
Weight-supporting
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Summary:To realize an effective and universal walking assist robot, we developed a weight-supporting wearable Human-Machine system, namely exoskeleton. Based on human hinge model and human kinesiology analysis, we designed a novel mechanical structure with body weight supporting. Then, the sensor and actuator units were designed and optimized. Finally, we proposed the control method based on foot plantar pressure and crotch contact force. The prototype experiment results indicated it could relieve user's knee and ankle pressure, thus assisting walking. Mostly, the wearable robot will not inflict restriction on users and is suitable for different movements of people with different height and weight.
ISBN:9781479986453
1479986453
DOI:10.1109/IHMSC.2015.184