Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton

Jinying Zhu; Qining Wang; Yan Huang; Long Wang

doi:10.1109/ICRA.2011.5980054

Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton

Jinying Zhu^*
, Qining Wang
, Yan Huang
, Long Wang

^*Corresponding author for this work

Peking University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Citations (Scopus)

Abstract

This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a below-knee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	605-610
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980054
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

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10.1109/ICRA.2011.5980054

Cite this

@inproceedings{3b7ce0cc550445d7a500e2c1d1ce197d,

title = "Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton",

abstract = "This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a below-knee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.",

author = "Jinying Zhu and Qining Wang and Yan Huang and Long Wang",

year = "2011",

doi = "10.1109/ICRA.2011.5980054",

language = "English",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "605--610",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Zhu, J, Wang, Q, Huang, Y & Wang, L 2011, Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980054, Proceedings - IEEE International Conference on Robotics and Automation, pp. 605-610, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980054

Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton. / Zhu, Jinying; Wang, Qining; Huang, Yan et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 605-610 5980054 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton

AU - Zhu, Jinying

AU - Wang, Qining

AU - Huang, Yan

AU - Wang, Long

PY - 2011

Y1 - 2011

N2 - This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a below-knee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.

AB - This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a below-knee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.

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DO - 10.1109/ICRA.2011.5980054

M3 - Conference contribution

AN - SCOPUS:84871686388

SN - 9781612843865

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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EP - 610

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton

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