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

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICEEE.2012.6421205

Filename

6421205