| Autor: |
Yildirim MC, Kansizoglu AT, Emre S, Derman M, Coruk S, Soliman AF, Sendur P, Ugurlu B |
| Jazyk: |
angličtina |
| Zdroj: |
IEEE ... International Conference on Rehabilitation Robotics : [proceedings] [IEEE Int Conf Rehabil Robot] 2019 Jun; Vol. 2019, pp. 605-610. |
| DOI: |
10.1109/ICORR.2019.8779407 |
| Abstrakt: |
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control. |
| Databáze: |
MEDLINE |
| Externí odkaz: |
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