Volume 2
A New Lower Extremity Exoskeleton Composed of Parallel Robots for People with Lower Extremity Dyskinesia
Authors
Shuai Fan, Guangyu Shen, Tao Liu, Guangkui Song, He Li
Abstract
This paper contributes to the design of a new anthropomorphic lower extremity exoskeleton device inspired by the distribution of the lower extremity muscles. Different from traditional structures, where a single rotary actuator or a single linear actuator is installed at the joint, each leg of the designed exoskeleton device is a combination of two parallel robots. For the two parallel robots, one connects the waist, a thigh, and a shank to move the hip and knee joints, while, the other connects a thigh, a shank, and a foot to move the knee and ankle joints. In addition, a certain gap at the knee joint and the actuators with springs are also introduced as a basis to avoid the pain caused by the rigid structure. The results show that the new exoskeleton advantages in preforming higher control sensitivity, stronger bearing capacity, and better human-robot interaction performance compared with the previous prototypes.
Keyword: Exoskeleton, Parallel robot, Rehabilitation, Variable stiffness.
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