Design and simulation of leg exoskeleton cycling-actuated wheelchair

Gao Huang; Weimin Zhang; Zhangguo Yu; Xuechao Chen; Fei Meng; Marco Ceccarelli; Qiang Huang

doi:10.1177/1729881417741739

Design and simulation of leg exoskeleton cycling-actuated wheelchair

Gao Huang
, Weimin Zhang^*
, Zhangguo Yu
, Xuechao Chen
, Fei Meng
, Marco Ceccarelli
, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology
University of Cassino and Southern Lazio

Research output: Contribution to journal › Article › peer-review

12 Citations (Scopus)

Abstract

This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.

Original language	English
Journal	International Journal of Advanced Robotic Systems
Volume	14
Issue number	6
DOIs	https://doi.org/10.1177/1729881417741739
Publication status	Published - 28 Nov 2017

Keywords

Service robotics
bicycling motion
biomechanics design
leg exoskeletons
simulation
wheelchair

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10.1177/1729881417741739

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title = "Design and simulation of leg exoskeleton cycling-actuated wheelchair",

abstract = "This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.",

keywords = "Service robotics, bicycling motion, biomechanics design, leg exoskeletons, simulation, wheelchair",

author = "Gao Huang and Weimin Zhang and Zhangguo Yu and Xuechao Chen and Fei Meng and Marco Ceccarelli and Qiang Huang",

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AU - Huang, Gao

AU - Zhang, Weimin

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Meng, Fei

AU - Ceccarelli, Marco

AU - Huang, Qiang

N1 - Publisher Copyright: © The Author(s) 2017.

PY - 2017/11/28

Y1 - 2017/11/28

N2 - This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.

AB - This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.

KW - Service robotics

KW - bicycling motion

KW - biomechanics design

KW - leg exoskeletons

KW - simulation

KW - wheelchair

UR - https://www.scopus.com/pages/publications/85039912744

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DO - 10.1177/1729881417741739

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VL - 14

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

IS - 6

ER -

Design and simulation of leg exoskeleton cycling-actuated wheelchair

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Keywords

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