A Lightweight, Integrated and Portable Force-Controlled Ankle Exoskeleton for Daily Walking Assistance

Leng，Yuquan1; Huang，Guan1; Ma，Lang1; Qian，Yuepeng1,2; Chen，Xinxing1; Zhang，Kuangen1,3; Fu，Chenglong1

10.1109/M2VIP49856.2021.9665002

2021

27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

978-1-6654-3154-5

2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021

42-47

NOV 26-28, 2021

null,Shanghai,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Most of the powered lower-limb exoskeletons are bulky or complex to wear. Especially, some exoskeletons have constraints on human leg movement. These all limit their applicability to daily walking assistance. In this paper, the ankle joint is selected to be assisted based on the fact that ankle joint contributes most of the positive power in daily walking. Then, a lightweight, integrated and portable force-controlled ankle exoskeleton is designed and tested. The wearable parts of proposed exoskeleton can be completely integrated to shoes, with no other part add to human legs. This can reduce the wearing complexity and increase acceptability of the user. Time-sharing control method is adopted about admittance control and position control to assist ankle joint. The assistant curve imitates the biological moment of ankle joint and the maximal moment is set to 25% of the maximal moment of ankle joint. When human walks at 1.4 m/s, the result show that net metabolic cost with the exoskeleton can be reduced by 9.98% compared to without the exoskeleton, proving the effectiveness of the proposed exoskeleton.

Legged locomotion Costs Torque Mechatronics Exoskeletons Force Position control

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China[52175272];

Automation & Control Systems ; Computer Science ; Engineering

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Multidisciplinary

WOS:000783817900008

20220811682741

Exoskeleton (Robotics) ; Joints (anatomy) ; Walking aids ; Wear of materials

Biomechanics, Bionics and Biomimetics:461.3 ; Rehabilitation Engineering and Assistive Technology:461.5 ; Biomedical Equipment, General:462.1 ; Specific Variables Control:731.3 ; Robotics:731.5 ; Physical Properties of Gases, Liquids and Solids:931.2 ; Materials Science:951

2-s2.0-85124794714

Scopus

1.Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial,Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,518055,China
2.Department of Biomedical Engineering,National University of Singapore,Singapore,117583,Singapore
3.Department of Mechanical Engineering,University of British Columbia,Vancouver,V6T1Z4,Canada

Leng，Yuquan,Huang，Guan,Ma，Lang,et al. A Lightweight, Integrated and Portable Force-Controlled Ankle Exoskeleton for Daily Walking Assistance[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:42-47.