A Weight-supporting Wearable Robot for Walking Assist

被引：3

作者：

Huang, Wulong ^{[1
]}

Wang, Xin'an ^{[1
]}

Wang, Mo ^{[1
]}

Tian, Yucheng ^{[1
]}

Li, Jing ^{[1
]}

Xie, Zheng ^{[2
]}

机构：

[1] Peking Univ, Shenzhen Grad Sch, Key Lab Integrated Microsyst, Shenzhen, Peoples R China

[2] Harbin Inst Technol, Shenzhen Grad Sch, Sch Elect & Informat Engn, Shenzhen, Peoples R China

来源：

2015 7TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS IHMSC 2015, VOL II | 2015年

关键词：

Weight-supporting; Walking assist; Exoskeleton; Wearable robot; Human-Machine system;

D O I：

10.1109/IHMSC.2015.184

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

To realize an effective and universal walking assist robot, we developed a weight-supporting wearable Human-Machine system, namely exoskeleton. Based on human hinge model and human kinesiology analysis, we designed a novel mechanical structure with bodyweight supporting. Then, the sensor and actuator units were designed and optimized. Finally, we proposed the control method based on foot plantar pressure and crotch contact force. The prototype experiment results indicated it could relieve user's knee and ankle pressure, thus assisting walking. Mostly, the wearable robot will not inflict restriction on users and is suitable for different movements of people with different height and weight.

引用

页数：4

共 8 条

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