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 language | English |
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| Title of host publication | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
| Publisher | IEEE |
| Publication date | 2020 |
| Pages | 768-773 |
| ISBN (Print) | 978-1-7281-7396-2 |
| ISBN (Electronic) | 978-1-7281-7395-5 |
| DOIs | |
| Publication status | Published - 2020 |
| Event | 2020 IEEE International Conference on Robotics and Automation - Duration: 31 May 2020 → 31 Aug 2020 http://www.icra2020.org |
Conference
| Conference | 2020 IEEE International Conference on Robotics and Automation |
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| Period | 31/05/2020 → 31/08/2020 |
| Internet address |
| Series | IEEE International Conference on Robotics and Automation |
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| ISSN | 1050-4729 |