DocumentCode
2826768
Title
BioKEX: A bionic knee exoskeleton with proxy-based sliding mode control
Author
Yang Liao ; Zhihao Zhou ; Qining Wang
Author_Institution
Coll. of Eng., Peking Univ., Beijing, China
fYear
2015
fDate
17-19 March 2015
Firstpage
125
Lastpage
130
Abstract
In this paper, we present a powered bionic knee exoskeleton aiming at physical assistance and rehabilitation. The mechanical structure of the knee exoskeleton is based on anthropomorphic design, the tibia rolling or sliding on the femur during joint movements. In addition, a proxy-based sliding mode controller is used to improve the safety of the wearable device. Preliminary experimental results on trajectory tracking and dynamic response verify the feasibility of the proposed knee exoskeleton.
Keywords
artificial limbs; biomechanics; bone; dynamic response; medical robotics; patient rehabilitation; trajectory control; variable structure systems; BioKEX; anthropomorphic design; dynamic response; femur; joint movement; mechanical structure; physical assistance; physical rehabilitation; powered bionic knee exoskeleton; proxy-based sliding mode controller; tibia rolling; tibia sliding; trajectory tracking; wearable device; Couplings; Exoskeletons; Gears; Joints; Knee; Thigh; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology (ICIT), 2015 IEEE International Conference on
Conference_Location
Seville
Type
conf
DOI
10.1109/ICIT.2015.7125087
Filename
7125087
Link To Document