On the Design of Lower Extremity Exoskeleton with Single Drive (LEESD)

被引：0
|
作者：
Zhu, Yanhe [1 ]
Cai, Xuefeng [1 ]
Jin, Hongzhe [1 ]
Zhao, Jie [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, C1-203,HIT Sci Pk,2 Yikuang St, Harbin 150080, Peoples R China
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 | 2014年
关键词：
Exoskeleton; single drive; single DOF; linkage;
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：
The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant speed. Considering these features, LEESD is a simple, as well as affordable mechanism. The details of the LEESD have been rigorously discussed and calculated during the design process.
引用
收藏
页码：993 / 998
页数：6
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