Design and control of linkage exoskeletons in wheelchair

Gao Huang; Marco Ceccarelli; Weimin M. Zhang; Fei Meng; Tao Sun; Qiang Huang

doi:10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair

Gao Huang, Marco Ceccarelli, Weimin M. Zhang^*, Fei Meng, Tao Sun, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

源语言	英语
主期刊名	Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
编辑	Carlo Ferraresi, Giuseppe Quaglia
出版商	Springer Netherlands
页	862-869
页数	8
ISBN（印刷版）	9783319612751
DOI	https://doi.org/10.1007/978-3-319-61276-8_91
出版状态	已出版 - 2018
活动	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, 意大利期限: 21 6月 2017 → 23 6月 2017

出版系列

姓名	Mechanisms and Machine Science
卷	49
ISSN（印刷版）	2211-0984
ISSN（电子版）	2211-0992

会议

会议	26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
国家/地区	意大利
市	Turin
时期	21/06/17 → 23/06/17

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10.1007/978-3-319-61276-8_91

其它文件与链接

链接到 Scopus 的出版物

引用此

Huang, G., Ceccarelli, M., Zhang, W. M., Meng, F., Sun, T., & Huang, Q. (2018). Design and control of linkage exoskeletons in wheelchair. 在 C. Ferraresi, & G. Quaglia (编辑), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (页码 862-869). (Mechanisms and Machine Science; 卷 49). Springer Netherlands. https://doi.org/10.1007/978-3-319-61276-8_91

Huang, Gao ; Ceccarelli, Marco ; Zhang, Weimin M. 等. / Design and control of linkage exoskeletons in wheelchair. Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. 编辑 / Carlo Ferraresi ; Giuseppe Quaglia. Springer Netherlands, 2018. 页码 862-869 (Mechanisms and Machine Science).

@inproceedings{2fe5fc1b08a34e058d6ec49f60fff860,

title = "Design and control of linkage exoskeletons in wheelchair",

abstract = "In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user{\textquoteright}s safety. Regarding the master-slave control, the user{\textquoteright}s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.",

keywords = "Experiment, Leg exoskeletons, Master-slave control, Pedal-actuated wheelchair",

author = "Gao Huang and Marco Ceccarelli and Zhang, {Weimin M.} and Fei Meng and Tao Sun and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG.; 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 ; Conference date: 21-06-2017 Through 23-06-2017",

year = "2018",

doi = "10.1007/978-3-319-61276-8_91",

language = "English",

isbn = "9783319612751",

series = "Mechanisms and Machine Science",

publisher = "Springer Netherlands",

pages = "862--869",

editor = "Carlo Ferraresi and Giuseppe Quaglia",

booktitle = "Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017",

address = "Netherlands",

}

Huang, G, Ceccarelli, M, Zhang, WM, Meng, F, Sun, T & Huang, Q 2018, Design and control of linkage exoskeletons in wheelchair. 在 C Ferraresi & G Quaglia (编辑), Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, 卷 49, Springer Netherlands, 页码 862-869, 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, 意大利, 21/06/17. https://doi.org/10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair. / Huang, Gao; Ceccarelli, Marco; Zhang, Weimin M. 等.
Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. 编辑 / Carlo Ferraresi; Giuseppe Quaglia. Springer Netherlands, 2018. 页码 862-869 (Mechanisms and Machine Science; 卷 49).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and control of linkage exoskeletons in wheelchair

AU - Huang, Gao

AU - Ceccarelli, Marco

AU - Zhang, Weimin M.

AU - Meng, Fei

AU - Sun, Tao

AU - Huang, Qiang

PY - 2018

Y1 - 2018

N2 - In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

AB - In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.

KW - Experiment

KW - Leg exoskeletons

KW - Master-slave control

KW - Pedal-actuated wheelchair

UR - http://www.scopus.com/inward/record.url?scp=85028298785&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-61276-8_91

DO - 10.1007/978-3-319-61276-8_91

M3 - Conference contribution

AN - SCOPUS:85028298785

SN - 9783319612751

T3 - Mechanisms and Machine Science

SP - 862

EP - 869

BT - Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017

A2 - Ferraresi, Carlo

A2 - Quaglia, Giuseppe

PB - Springer Netherlands

T2 - 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017

Y2 - 21 June 2017 through 23 June 2017

ER -

Huang G, Ceccarelli M, Zhang WM, Meng F, Sun T, Huang Q. Design and control of linkage exoskeletons in wheelchair. 在 Ferraresi C, Quaglia G, 编辑, Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer Netherlands. 2018. 页码 862-869. (Mechanisms and Machine Science). doi: 10.1007/978-3-319-61276-8_91

Design and control of linkage exoskeletons in wheelchair

摘要

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会议

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