Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 19, Issue 2, Pages 623-632Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2013.2250295
Keywords
Actuators; exoskeletons; mechatronics; robotics
Categories
Funding
- Republic of Turkey Ministry of Science, Industry and Technology [00274.STZ.2008-1]
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Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named walking supporting exoskeleton (WSE). WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.
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