Archive for Июль 25th, 2005

Development of a lower extremity exoskeleton — preliminary study for dynamic walking

Дата: Июль 25th, 2005 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 361
  • Название документа: Development of a lower extremity exoskeleton - preliminary study for dynamic walking
  • Номер (DOI, IBSN, Патент): 10.1109/ICARCV.2004.1469486
  • Изобретатель/автор: Xiaopeng Liu, Low, K.H., Kasim, H.S., Hao Yong Yu
  • Правопреемник/учебное заведение: Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
  • Дата публикации документа: 2005-07-25
  • Страна опубликовавшая документ: Сингапур
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

Exoskeletons for human performance augmentation are controlled and wearable devices and machines that can increase the speed, strength, and endurance of the operator. So far most researchers focus on the upper limb exoskeletons. To help those who need to travel long distances by feet with heavy loads such as infantry soldiers, this paper presents a control principle of a lower extremity exoskeleton. An exoskeleton foot is designed to measure the human and the exoskeleton’s ZMP. Using the measured human ZMP as the reference, the exoskeleton’s ZMP is modified by torso control and ground reaction force control so that theexoskeleton can walk stably. Test prototypes, initial experiment results, and preliminary dynamic analysis are also presented.

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