DocumentCode :
2601317
Title :
On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Author :
Zoss, Adam ; Kazerooni, H. ; Chu, Andrew
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
3465
Lastpage :
3472
Abstract :
The first energetically autonomous lower extremity exoskeleton capable of carrying a payload has been demonstrated at U.C. Berkeley. This paper summarizes the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom and their ranges of motion are described. Additionally, the significant design aspects of the major BLEEX components are covered.
Keywords :
legged locomotion; mechanical engineering; Berkeley Lower Extremity Exoskeleton; autonomous lower extremity exoskeleton; legged locomotion; linear hydraulic actuators; mechanical design; wearable robotics; Anthropomorphism; Exoskeletons; Extremities; Humans; Leg; Legged locomotion; Mobile robots; Payloads; Power supplies; Vehicles; BLEEX; exoskeleton; legged locomotion; mechanical design; wearable robotics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545453
Filename :
1545453
Link To Document :
بازگشت