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Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence | IEEE Conference Publication | IEEE Xplore

Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence


Abstract:

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 actuat...Show More

Abstract:

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.
Date of Conference: 24-28 June 2019
Date Added to IEEE Xplore: 29 July 2019
ISBN Information:

ISSN Information:

PubMed ID: 31374697
Conference Location: Toronto, ON, Canada

References

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