Design and Actuator Selection of a Lower Extremity Exoskeleton

被引：68

作者：

Onen, Umit ^{[1
]}

Botsali, Fatih M. ^{[2
]}

Kalyoncu, Mete ^{[2
]}

Tinkir, Mustafa ^{[3
]}

Yilmaz, Nihat ^{[4
]}

Sahin, Yusuf ^{[2
]}

机构：

[1] Necmettin Erbakan Univ, Mechatron Engn Dept, TR-42060 Konya, Turkey

[2] Selcuk Univ, Dept Mech Engn, TR-42075 Konya, Turkey

[3] Necmettin Erbakan Univ, Dept Mech Engn, TR-42060 Konya, Turkey

[4] Selcuk Univ, Dept Elect & Elect Engn, TR-42075 Konya, Turkey

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2014年 / 19卷 / 02期

关键词：

Actuators; exoskeletons; mechatronics; robotics; GAIT;

D O I：

10.1109/TMECH.2013.2250295

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：623 / 632

页数：10

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