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Mechanical Design of a Lower Extremity Exoskeleton with Hybrid Legs for Power Augmentation

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

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Abstract

An innovative lower extremity exoskeleton, SJTU-EX, is presented in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motions. This paper summarizes the mechanical design of SJTU-EX. Each pseudo- anthropomorphic leg of SJTU-EX has four active joints and two passive joints and the joint ranges are optimized in consideration of both safety factors and realizations of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China

    Yunjie Miao & Dalei Pan

  2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China

    Feng Gao

Authors
  1. Yunjie Miao
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  2. Feng Gao
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  3. Dalei Pan
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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Miao, Y., Gao, F., Pan, D. (2013). Mechanical Design of a Lower Extremity Exoskeleton with Hybrid Legs for Power Augmentation. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_12

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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