Open document
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General information |
| Author |
Chandrapal, Mervin; Chen, XiaoQi; Wang, Wenhui; Stanke, Benjamin; Pape, Nicolas Le |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper describes the experimental testing
of an actuated lower-limb exoskeleton. The exoskeleton
is designed to alleviate the loading at the knee joint by
supplying assistive torque. It is hypothesized that the
support provided will reduce the muscular effort required
to perform activities of daily living and thus facilitate the
execution of these movements by those who previously
had limited mobility. The exoskeleton is actuated by
four pneumatic artificial muscles, each providing 150N
of pulling force to assist in the flexion and extension of
the knee joint. The exoskeleton system estimates the
user’s intended motion using muscle activity information
recorded from five thigh muscles, together with the knee
angle. To experimentally evaluate the performance of
the device, the exoskeleton was worn by an able-bodied
user, whilst performing the sit-to-stand-to-sit movement.
In addition, the three intention estimation algorithms
were also tested to determine the influence of the various
algorithms on the support provided. The results show a
significant reduction in the user’s muscle activity ( 20%)
when assisted by the exoskeleton in a predictable manner. |
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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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