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.
UR - https://www.scopus.com/pages/publications/84871686388
U2 - 10.1109/ICRA.2011.5980054
DO - 10.1109/ICRA.2011.5980054
M3 - Conference contribution
AN - SCOPUS:84871686388
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 605
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 -