Abstract
In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user’s safety. Regarding the master-slave control, the user’s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.
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Acknowledgments
The author Marco Ceccarelli acknowledges the Beijing Institute of Technology for supporting his visiting professorship at the Intelligent Robot Institute during the academic year 2014–2015. Also, the authors acknowledge the volunteers who helped to finish part of the experiments.
This work was supported in part by the National Natural Science Foundation (NSFC) of China under Grant 61320106012, 61375103, 61533004, 61273348, 61321002 and 61673069, by the National High Technology Research and Development Program of China (863 Program) under Grant 2014AA041602, 2015AA042305, 2015AA043202, by the Key Technologies Research and Development Program under Grant 2015BAF13B01 and 2015BAK35B01, by the Beijing Municipal Science and Technology Project under Grant D161100003066002, Z161100003116081, and by the national “111” Project under Grant B08043.
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Huang, G., Ceccarelli, M., Zhang, W.M., Meng, F., Sun, T., Huang, Q. (2018). Design and Control of Linkage Exoskeletons in Wheelchair. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_91
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DOI: https://doi.org/10.1007/978-3-319-61276-8_91
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