A Novel Portable Lower Limb Exoskeleton for Gravity Compensation during Walking

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Publication date2020
Pages768-773
ISBN (Print)978-1-7281-7396-2
ISBN (Electronic)978-1-7281-7395-5
DOIs
Publication statusPublished - 2020
Event2020 IEEE International Conference on Robotics and Automation -
Duration: 31 May 202031 Aug 2020
http://www.icra2020.org

Conference

Conference2020 IEEE International Conference on Robotics and Automation
Period31/05/202031/08/2020
Internet address
SeriesIEEE International Conference on Robotics and Automation
ISSN1050-4729

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