Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Critical Review and Progress of Adaptive Controller Design for Robot Arms Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Conceptual Design of Energy Efficient Lower Extremity Exoskeleton for Human Motion Enhancement and Medical Assistance

verfasst von : Nazim Mir-Nasiri

Erschienen in: Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

The paper describes conceptual design and control strategies for a new fully autonomous lower limb exoskeleton system. The main advantage of the system is its ability to decouple the weight/mass carrying function of the system from its forward motion function to reduce power consumption, weight and size of the propulsion motors. An efficient human machine interface has been achieved by means two sets of sensors: one (flexible sensors) to monitor subject leg’s shank and ankle movements and the second to monitor subject’s foot pressure. The weight is supported by a couple of passive pneumatic cylinders with electronically controlled ports. Joint motors of the exoskeleton then are only left to timely drive links of the exoskeleton when the legs take step. Therefore, motors consume less electrical energy and are small in size. In contrast to other existing exoskeleton designs, the motor batteries are able to sustain the energy supply for a longer travel distance before discharging.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Synthesis and Analysis of Pneumatic Muscle Driven Parallel Platforms Imitating Human Shoulder
Nächstes Kapitel A New Algorithm for Analyzing Method of Electrical Faults of Three-Phase Induction Motors Using Duty Ratios of Half-Period Frequencies According to Phase Angle Changes
Literatur
Banala, S., Agrawal, S., & Scholz, J. (2009). Robot assisted gait training with active leg exoskeleton (ALEX). IEEE Transactions on Neural Systems and Rehabilitation Engineering, 17, 2–8.CrossRef
De Santis, A., Siciliano, B., De Luca, A., & Bicchi, A. (2008). An atlas of physical human-robot interaction. Mechanisms and Machines Theory, 43, 253–270.CrossRefMATH
Ghan, J., & Kazerooni, H. (2006). System identification for the Berkeley lower extremity exoskeleton (BLEEX). In Proceedings 2006 IEEE International Conference on Robotics and Automation (ICRA), pp. 3477–3484.
Heng, C., Jun, Z., Chunming, X., Hong, Z., Xiao, C., & Yu, W. (2010). Design and control of a hydraulic-actuated leg exoskeleton for load-carrying augmentation. In Proceedings 2006 IEEE International Conference on Robotics and Automation (ICRA), Part I, LNAI 6424, pp. 590–599.
Heng, C., Zhengyang, L., Jun, Z., Yu, W., Wei, W. (2009). Design frame of a leg exoskeleton for load-carrying augmentation. In Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 426–431.
Ikeuchi, Y., Ashihara J., Hiki Y., Kudoh H., & Noda T. (2009). Walking assist device with bodyweight support system. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4073–4079.
Iqbal, J., & Baizid, K. (2015). Stroke rehabilitation using exoskeleton-based robotic exercisers mini review. Biomedical Research, 26(1), 197–201.
Jamwal, P. K., Sheng, Q. X., Shahid, H., & John, G. P. (2014). An adaptive wearable parallel robot for the treatment of ankle injuries. IEEE/ASME Transactions on Mechatronics, 19(1), 64–75.CrossRef
Jezernik, S., Colombo, G., Keller, T., Frueh, H., & Morari, M. (2003). Robotic orthosis lokomat: A rehabilitation and research tool. Neuromodulation, 6, 108–115.CrossRef
Kao, P., & Ferris, D. P. (2009). Motor adaptation during dorsiflexion-assisted walking with a powered orthosis. Gait Posture., 29, 230–236.CrossRef
Kasaoka, K., & Sankai, Y. (2001). Predictive control estimating operator’s intention for stepping-up motion by exo-skeleton type power assist system HAL. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1578–1583.
Kawabata, T., Satoh, H., & Sankai, Y. (2009). Working posture control of robot suit HAL for reducing structural stress. In Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2013–2018.
Kawamoto, H., & Sankai, Y. (2002). Comfortable power assist control method for walking aid by HAL-3. In Proceedings of IEEE International Conference on Systems, Man and Cybernetics, pp. 6–12.
Kawamoto, H., & Sankai, Y. (2005). Power assists method based on phase sequence and muscle force condition for HAL. Journal of Advanced Robotics, 19(7), 717–734.CrossRef
Kazerooni, H., Steger, R., & Huang, L. (2006). Hybrid control of the Berkeley lower extremity exoskeleton (bleex). The International Journal of Robotics Research, 25(5–6), 561–573.CrossRef
Leslie, M. (2012). The next generation of exoskeletons. A Magazine of the IEEE Engineering in Medicine and Biology Society, 3(4), 56–61.
Mao, Y., & Agrawal, S. K. (2012). Design of a cable driven arm exoskeleton (CAREX) for neural rehabilitation. IEEE Transactions on Robotics, 28(4), 922–931.CrossRef
Pons, J. L. (2008). Wearable robots: Bio-mechatronic exoskeletons. Hoboken, NJ, USA: Wiley.CrossRef
Suzuki, K., Mito, G., Kawamoto, H., Hasegawa, Y., & Sankai, Y. (2007). Intention-based walking support for paraplegia patients with robot suit HAL. Advanced Robotics, 21, 1441–1469.
Veneman, J. F., Kruidhof, R., Hekman, E. E., Ekkelenkamp, R., van der Van Asseldonk, E. H., & Kooij, H. (2007). Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15, 379–386.CrossRef
Vukobratovic, M., Hristic, D., & Stojiljkovic, Z. (1974). Development of active anthropomorphic exoskeletons. Journal of Medical and Biological Engineering and Computing, 12(1), 66–80.CrossRef
Walsh, C.J., & Paluska, D. (2006). Development of a lightweight, underactuated exoskeleton for load-carrying augmentation. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 3485–3491.
Zoss, A. B., Kazerooni, H., & Chu, A. (2006). Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Transactions on Mechatronics, 11(2), 128–138.CrossRef
Metadaten
Titel
Conceptual Design of Energy Efficient Lower Extremity Exoskeleton for Human Motion Enhancement and Medical Assistance
verfasst von
Nazim Mir-Nasiri
Copyright-Jahr
2017
Buch
Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Print ISBN: 978-3-319-33580-3

Electronic ISBN: 978-3-319-33581-0

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-33581-0_22

Neuer Inhalt

    Bildnachweise