Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

Jinying Zhu; Haotian She; Wentao Sun; Xin Li; Xiaohua Zhang; Qiang Huang

doi:10.1109/CBS.2017.8266077

Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

Jinying Zhu^*, Haotian She, Wentao Sun, Xin Li, Xiaohua Zhang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

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

2 Citations (Scopus)

Abstract

This paper presents the design of compliant ankle and toe joints and a human-robot connection in an ankle-foot exoskeleton. The ankle joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe joint with compliance, the toe joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a revolution joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

Original language	English
Title of host publication	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	103-107
Number of pages	5
ISBN (Electronic)	9781538631942
DOIs	https://doi.org/10.1109/CBS.2017.8266077
Publication status	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, China Duration: 17 Oct 2017 → 19 Oct 2017

Publication series

Name	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Country/Territory	China
City	Beijing
Period	17/10/17 → 19/10/17

Access to Document

10.1109/CBS.2017.8266077

Cite this

Zhu, J., She, H., Sun, W., Li, X., Zhang, X., & Huang, Q. (2017). Design of compliant joints and human-robot connection in an ankle-foot exoskeleton. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 (pp. 103-107). (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2017.8266077

@inproceedings{2a13ae379c424e75879850a5e6661d66,

title = "Design of compliant joints and human-robot connection in an ankle-foot exoskeleton",

abstract = "This paper presents the design of compliant ankle and toe joints and a human-robot connection in an ankle-foot exoskeleton. The ankle joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe joint with compliance, the toe joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a revolution joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.",

author = "Jinying Zhu and Haotian She and Wentao Sun and Xin Li and Xiaohua Zhang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 ; Conference date: 17-10-2017 Through 19-10-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/CBS.2017.8266077",

language = "English",

series = "2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "103--107",

booktitle = "2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017",

address = "United States",

}

Zhu, J, She, H, Sun, W, Li, X, Zhang, X & Huang, Q 2017, Design of compliant joints and human-robot connection in an ankle-foot exoskeleton. in 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 103-107, 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, China, 17/10/17. https://doi.org/10.1109/CBS.2017.8266077

Design of compliant joints and human-robot connection in an ankle-foot exoskeleton. / Zhu, Jinying; She, Haotian; Sun, Wentao et al.
2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 103-107 (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January).

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

TY - GEN

T1 - Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

AU - Zhu, Jinying

AU - She, Haotian

AU - Sun, Wentao

AU - Li, Xin

AU - Zhang, Xiaohua

AU - Huang, Qiang

PY - 2017/7/2

Y1 - 2017/7/2

N2 - This paper presents the design of compliant ankle and toe joints and a human-robot connection in an ankle-foot exoskeleton. The ankle joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe joint with compliance, the toe joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a revolution joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

AB - This paper presents the design of compliant ankle and toe joints and a human-robot connection in an ankle-foot exoskeleton. The ankle joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe joint with compliance, the toe joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a revolution joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

UR - http://www.scopus.com/inward/record.url?scp=85050455679&partnerID=8YFLogxK

U2 - 10.1109/CBS.2017.8266077

DO - 10.1109/CBS.2017.8266077

M3 - Conference contribution

AN - SCOPUS:85050455679

T3 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

SP - 103

EP - 107

BT - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

Y2 - 17 October 2017 through 19 October 2017

ER -

Zhu J, She H, Sun W, Li X, Zhang X, Huang Q. Design of compliant joints and human-robot connection in an ankle-foot exoskeleton. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 103-107. (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017). doi: 10.1109/CBS.2017.8266077

Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this