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Informations générales |
| Auteur |
Kim, Jung-Hoon; Han, Jeong Woo; Kim, Deog Young; Baek, Yoon Su |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
The design of an assistive lower limb
exoskeleton robot for paraplegic patients that can
measure the centre of pressure is presented. In contrast
with most biped walking robots, the centre of pressure
(CoP) or zero moment point (ZMP) has not been
actively used in the operation of exoskeleton robots. In
order to measure CoP in our exoskeleton robot, two
kinds of force sensor units are installed in the
exoskeleton: low profile force sensors in foot modules
to measure the human weight transferred to the
ground and a load cell at the shank frame to measure
the supporting force. The CoP of the exoskeleton robot
is calculated from the above force sensors, an
inclinometer at the waist, and the positions of 14 DOF
exoskeleton joints with an algorithm to change the
fixed pivot using a foot contact sensor. Experiments on
an able‐bodied person wearing the designed
exoskeleton and walking on the ground are performed
to validate the designed hardware system. Through
the experiments, the trajectory of the CoP of the
exoskeleton with a wearer are calculated based on the
proposed algorithm and it is compared with the value
measured by a commercial pressure measurement
system. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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