Journal
ADVANCED ROBOTICS
Volume 26, Issue 5-6, Pages 561-580Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1163/156855311X617506
Keywords
Wearable robot; exoskeleton; constant force mechanism; muscle stiffness sensor; backpropagation algorithm
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Funding
- Ministry of Knowledge and Economy (MKE) of Korea [10035431]
- MKE, Korea under the Advanced Robot Industrial Promotion Agency (NIPA) [NIPA-2011-C7000-1001-0002]
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This study proposes an under-actuated wearable exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular-type wearable system and its corresponding sensor systems are proposed. The design process of the modular-type exoskeleton for lower extremities is presented based on the considered requirements. To operate the system with the user, human walking analysis and intention signal acquisition methods for actuating the proposed system are developed. In particular, a sensing data estimation strategy is applied to synchronize the exoskeleton system with a user correctly. Finally, several experiments were performed to evaluate the performance of the proposed exoskeleton system by measuring the electromyography signal of the wearer's muscles while walking on level ground and climbing up stairs with 20- to 40-kg loads, respectively. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012
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