Gait Characteristics for a Lower Limb Exoskeleton Implementing the Precedence Walking Assistance Mechanism

Do Wan Cha; Kab Il Kim; Kyung Soo Kim; Bum Joo Lee; Soo Hyun Kim

doi:10.4028/www.scientific.net/AMM.627.241

Paper Titles

Single Beacon Indoor Localization System Based on Counter-Synchronized Compass and RSSI
p.217

Study on the Judgment of Cell Detachment Using Image Processing
p.223

A New Brake-by-Wire System Based on Direct-Drive Electro-Hydraulic Brake Unit
p.231

Internal Model Control Design for Autothermal Reforming System
p.236

Gait Characteristics for a Lower Limb Exoskeleton Implementing the Precedence Walking Assistance Mechanism
p.241

An Airflow Analysis Study of Quadrotor Based Flying Sniffer Robot
p.246

Deflection Analysis of Ionic Polymer Metal Composites (IPMC) Actuators for Bionic Joints
p.251

A Precast Road Panel Structure for Heavy Vehicles
p.257

Boundary-Constraint Meshing Based on Paving Method
p.262

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 627Gait Characteristics for a Lower Limb Exoskeleton...

Gait Characteristics for a Lower Limb Exoskeleton Implementing the Precedence Walking Assistance Mechanism

Abstract:

In this paper, we analyse human gait patterns, including knee and hip joint torques and muscle activities, during step initiation phase and continuous walking phase. Additionally, we present a lower limb exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) implementing a precedence walking assistance mechanism based on the gait characteristics. The operator equipped with the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) walks with a 15 kg load at 3.3 km/h step velocity.

You might also be interested in these eBooks

Advanced Development in Industry and Applied Mechanics

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 627)

Pages:

241-245

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.627.241

Citation:

Cite this paper

Online since:

September 2014

Authors:

Do Wan Cha, Kab Il Kim, Kyung Soo Kim, Bum Joo Lee, Soo Hyun Kim

Keywords:

Exoskeleton, Precedence Walking Assistance

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] A. M. Dollar and H. Herr, Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art, IEEE T ROBOT, vol. 24 (2008) 144-158.

DOI: 10.1109/tro.2008.915453

Google Scholar

[2] Suzuki, K., Mito, G., Kawamoto, H., Hasegawa, Y., and Sankai, Y., Intention-based walking support for paraplegia patients with Robot Suit HAL, ADV ROBOTICS 21 (2007) 1441-1469.

DOI: 10.1163/156855307781746061

Google Scholar

[3] Sankai, Y., Leading Edge of Cybernics: Robot Suit HAL, Int. Conf. on SICE_ICASE (2006) 1-2.

DOI: 10.1109/sice.2006.314982

Google Scholar

[4] Chu, A., Zoss, A., and Kazerooni, H., On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX), Int. Conf. on Robot, (2005) 4345-4352.

DOI: 10.1109/robot.2005.1570789

Google Scholar

[5] Pratt, J. E., Krupp, B. T., Morse, C. J., and Collins, S. H., The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking, Int. Conf. on Robot, (2004) 2430-2435.

DOI: 10.1109/robot.2004.1307425

Google Scholar

[6] K. Kong, and D. Jeon, Design and control of an exoskeleton for the elderly and patients, IEEE/ASME Trans, Mechatron, vol. 11 (2006) 428-432.

DOI: 10.1109/tmech.2006.878550

Google Scholar

[7] E. Alberto, T. Mukul, P. Andrew, and S. Michael, The ReWalk Powered Exoskeleton to Restore Ambulatory Function to Individuals with Thoracic-Level Motor Complete Spinal Cord Injury, American Journal of Physical Medicine & Rehabilitation vol. 91 (2012).

DOI: 10.1097/phm.0b013e318269d9a3

Google Scholar