On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

被引：90
|
作者：
Zoss, A [1 ]
Kazerooni, H [1 ]
Chu, A [1 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
BLEEX; exoskeleton; wearable robotics; mechanical design; legged locomotion;
D O I：
10.1109/IROS.2005.1545453
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The first energetically autonomous lower extremity exoskeleton capable of carrying a payload has been demonstrated at U.C. Berkeley. This paper summarizes the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom and their ranges of motion are described. Additionally, the significant design aspects of the major BLEEX components are covered.
引用
收藏
页码：3132 / 3139
页数：8
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