Title :
Modeling and control of a lower limb exoskeleton with two degrees of freedom
Author :
Lopez, R. ; Salazar, S. ; Torres, Juana ; Lozano, Rogelio
Author_Institution :
Cinvestav, Mexico City, Mexico
Abstract :
The exoskeletons are bio-mechanisms used for amplification of strength, load heavy objects, increase speed and human resistance. for this reason the exoskeletons have many medical and military applications. The present paper concerns about construction and control of exoskeleton assisted by SEA (Series Elastic Actuators) having two degrees of freedom (knee and ankle). This exoskeleton offers a reduction in effort required by the user to reach and keep the stand up position as well as to performs some exercises like flexing the leg, etc.
Keywords :
actuators; biomechanics; bone; force control; handicapped aids; medical robotics; SEA; biomechanisms; degrees of freedom; heavy object loading; human resistance increment; lower limb exoskeleton control; lower limb exoskeleton modeling; medical applications; military applications; series elastic actuators; speed increment; stand up position; strength amplification; Actuators; Equations; Exoskeletons; Force; Humans; Knee; Mathematical model; Exoskeleton; Force control; Modeling; SEA actuators;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421205
