Title :
Development of a lower extremity exoskeleton for human performance enhancement
Author :
Liu, Xiaopeng ; Low, K.H. ; Yu, Hao Yong
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Exoskeletons for human performance augmentation are controlled and wearable devices or machines that can increase the speed, strength, and endurance of the operator. So far most researchers focus on the upper limb exoskeletons. To help those who need to travel long distances by feet with heavy loads such as infantry soldiers, this paper presents a control principle of a lower extremity exoskeleton. An exoskeleton foot is designed to measure the human and the exoskeleton´s ZMP. Using the measured human ZMP as the reference together with the human leg position signals, the exoskeleton´s ZMP is modified by trunk compensation. Test prototypes and initial experiment results are also demonstrated.
Keywords :
compensation; legged locomotion; man-machine systems; motion control; human ZMP; human legs; human performance augmentation; lower extremity exoskeleton; trunk compensation; Anthropometry; Electromyography; Exoskeletons; Extremities; Humanoid robots; Humans; Leg; Legged locomotion; Signal processing; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1390021