Title :
Design and Actuator Selection of a Lower Extremity Exoskeleton
Author :
Onen, Umit ; Botsali, Fatih M. ; Kalyoncu, Mete ; Tinkir, Mustafa ; Yilmaz, Nihat ; Sahin, Yucel
Author_Institution :
Mechatron. Eng. Dept., Necmettin Erbakan Univ., Konya, Turkey
Abstract :
Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named “walking supporting exoskeleton (WSE).” WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.
Keywords :
actuators; human-robot interaction; legged locomotion; actuator selection; anthropomorphic design; design selection; electrical actuators; integrate human intelligence; legged robots; lower extremity exoskeleton; mechanical design; muscular activities; wearable robots; Actuators; exoskeletons; mechatronics; robotics;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2013.2250295