A Novel Portable Lower Limb Exoskeleton for Gravity Compensation during Walking

Libo Zhou, Weihai Chen, Wenjie Chen , Shaoping Bai, Jianhua Wang

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Abstrakt

This paper presents a novel portable passive lower limb exoskeleton for walking assistance. The exoskeleton is designed with built-in spring mechanisms at the hip and knee joints to realize gravity balancing of the human leg. A pair of mating gears is used to convert the tension force from the built-in springs into balancing torques at hip and knee joints for overcoming the influence of gravity. Such a design makes the exoskeleton has a compact layout with small protrusion, which improves its safety and user acceptance. In this paper, the design principle of gravity balancing is described. Simulation results show a significant reduction of driving torques at the limb joints. A prototype of single leg exoskeleton has been constructed and preliminary test results show the effectiveness of the exoskeleton.
OriginalsprogEngelsk
Titel2020 IEEE International Conference on Robotics and Automation (ICRA)
ForlagIEEE
Publikationsdato2020
Sider768-773
ISBN (Trykt)978-1-7281-7396-2
ISBN (Elektronisk)978-1-7281-7395-5
DOI
StatusUdgivet - 2020
Begivenhed2020 IEEE International Conference on Robotics and Automation -
Varighed: 31 maj 202031 aug. 2020
http://www.icra2020.org

Konference

Konference2020 IEEE International Conference on Robotics and Automation
Periode31/05/202031/08/2020
Internetadresse
NavnIEEE International Conference on Robotics and Automation
ISSN1050-4729

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