Biomechanical Design and Control of Lower Limb Exoskeleton for Sit-to-Stand and Stand-to-Sit Movements

被引：0

作者：

Qureshi, Muhammad Hamza ^{[1
]}

Masood, Zeeshan ^{[1
]}

Rehman, Linta ^{[1
]}

Owais, Muhammad ^{[1
]}

Khan, Muhammad Umer ^{[2
]}

机构：

[1] Air Univ, Dept Mechatron Engn, Islamabad, Pakistan

[2] Atilim Univ, Dept Mechatron Engn, Ankara, Turkey

来源：

2018 14TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA) | 2018年

关键词：

Assistive devices; rehabilitation; exoskeleton; sit-to-stand; stand-to-sit; static; dynamic;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present design and development phase of lower limb robotic exoskeleton that can assist paralyzed individuals. Motion of the human wearing exoskeleton is introduced by actuators. Both exoskeleton legs are attached to the supporting frame by passive universal joints. The exoskeleton provides 3 DOFs per limb of which two joints are active and one passive. The control actions i.e., sit-to-stand and stand-to-sit movements are triggered using Double Pole Double Throw (DPDT) toggle switch. The control scheme is implement using Switch control method and the feedback is provided by means of current measurement. This assistive device can be utilized for the disabled persons. The simulation results are provided that evaluates the performance of the control actions on exoskeleton.

引用

页数：6

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