Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)

被引：824
作者：
Zoss, AB [1 ]
Kazerooni, H
Chu, A
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
[2] Siemens, Concord, CA 94520 USA
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2006年 / 11卷 / 02期
关键词：
biomimetics; exoskeletons; mechatronics; robotics;
D O I：
10.1109/TMECH.2006.871087
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.
引用
收藏
页码：128 / 138
页数：11
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