期刊
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING
卷 40, 期 4, 页码 657-666出版社
CANADIAN SCIENCE PUBLISHING
DOI: 10.1139/tcsme-2016-0053
关键词
swinging leg control; exoskeleton; in-sole sensing shoe; man-machine interface
资金
- National High Technology Research and Development Program of China (863 Program) [2012AA041505]
- Self-Planned Task of State Key Laboratory of Robotics and System (HIT) [SKLRS201201A02]
A lower limb exoskeleton can help in weight-bearing and walking to assist laborers doing heavy work. For exoskeleton-assisted walking, the wearing comfort and walking convenience are important so there must be minimal interference with leg movement. Hence, a peculiar design strategy based on an in-sole sensing shoe is presented to achieve real-time motion detection and follow-up control of the moving leg. Compared to the elastic muscle extension, the sensor must exhibit minimal deflection under load. Therefore, an ultrathin structure integrating 6 bar linkages and 3 cantilevers has been used in the design of the in-sole sensing shoe which can detect force in two directions and torque in one. A swing phase experiment and a random leg motion test were carried out. Results show validity of human motion detection and follow-up control strategy based on this plantar surface sensor.
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