| Autor: |
Sinan Coruk, Deniz Ugur, Mehmet C. Yildirim, Ahmed Fahmy Soliman, Oguzhan Dalgic, Barkan Ugurlu |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Biosystems & Biorobotics ISBN: 9783030695460 |
| DOI: |
10.1007/978-3-030-69547-7_51 |
| Popis: |
In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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