Papers by Keyword: Exoskeleton Suit

Abstract: This paper introduced the rehabilitation for leg lower limp with exoskeleton suit. The rehabilitation is mainly classified in three modes, which are active, passive and active - assistive mode. In active mode, it provides appropriate resistance to the muscles to increase endurance and strength, because the patients must lift leg lower limp by their effort. In passive mode, patients cannot participate in process of rehabilitation and no effort is required, because patients leg lower limb will be driven by exoskeleton suit. In the last active-assistive mode is the combination of active and passive mode for patients, who has capability to move their joints but not reached the desired level. The control algorithm is designed to achieve rehabilitation modes by using classical PID controller.

Abstract: Exoskeleton suit is a kind of human-machine robot, which combines the human’s intelligence with the power of mechanism. NES-3 is a pure motor actuated power assist exoskeleton suit. A special mechanical design using backstay cable for transmission system is proposed in the paper. The design can depart the motor from its control object which make the leg of NES-3 is very light and reduces the power cosumption of the operator. An extend gas spring is used in the hip joint to conquer the rotation torque of the load. A compress gas spring is used in the knee joint which can make the knee joint bend naturally. The two gas springs also can save the operator’s power cosumption. Detailed mechanical design is showed in the paper and achieves its design objecttive.