Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking

被引：20
|
作者：
Miao, Yunjie [1 ]
Gao, Feng [1 ]
Pan, Dalei [1 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200030, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
关键词：
SJTU-EX; Exoskeleton; Hybrid Leg; Diamond Mechanism; Hy-Mo; Mechanical Design; FORCE;
D O I：
10.5772/57238
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
An innovative lower extremity exoskeleton, SJTU-EX, is demonstrated in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motion. This paper summarizes the mechanical design of SJTU-EX. Each pseudo-anthropomorphic leg of SJTU-EX has four active joints and two passive joints, and the joint ranges are optimized in consideration of both safety factors and the realization of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints. Novel Hy-Mo actuators are introduced for SJTU-EX and the layout of the actuator for Diamond Side 2 is described in detail as a design example.
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页数：11
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