DocumentCode
260019
Title
A lower limb exoskeleton with hybrid actuation
Author
Aguilar-Sierra, Hipolito ; Lopez, Ricardo ; Wen Yu ; Salazar, Sergio ; Lozano, Rogelio
Author_Institution
Dept. of Autom. Control, CINVESTAV-IPN, Mexico City, Mexico
fYear
2014
fDate
12-15 Aug. 2014
Firstpage
695
Lastpage
700
Abstract
In this paper, the lower limb exoskeleton uses a harmonic drive actuator and two pneumatic artificial muscles (PAMs). This hybrid actuation takes both advantages of harmonic drive and PAM. It provide high accuracy position control and compliant behavior. The disadvantages of each type of actuator are overcome. This exoskeleton is suitable for the strength augmentation of human lower limbs, such as the gait rehabilitation routine of hip and knee joints.
Keywords
pneumatic actuators; position control; PAM; compliant behavior; gait rehabilitation routine; harmonic drive actuator; hip joints; hybrid actuation; knee joints; lower limb exoskeleton; pneumatic artificial muscles; position control; strength augmentation; Actuators; Exoskeletons; Harmonic analysis; Hip; Joints; Knee; Muscles;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on
Conference_Location
Sao Paulo
ISSN
2155-1774
Print_ISBN
978-1-4799-3126-2
Type
conf
DOI
10.1109/BIOROB.2014.6913859
Filename
6913859
Link To Document