A Walking Assistance Exoskeleton with Individual Control of Multiple Cables via a Single Actuator: Design and Evaluation

Guo，Kaiqi; Zhong，Bin; Zhang，Changqi; Zhang，Mingming

10.1109/M2VIP49856.2021.9665164

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

96-100

NOV 26-28, 2021

null,Shanghai,PEOPLES R CHINA

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

IEEE

This paper presents a new walking assistance exoskeleton enabling multiple force outputs via a novel actuator with clutch units. Its mechanical power is transmitted to the human wearer through a cable-based mechanism. We preliminarily evaluated the feasibility of individual force control of multiple cables out from the actuation system and the overall application within a walking assistance exoskeleton, all the assistance is from the single motor. It is demonstrated that this exoskeleton could function synchronously with the hip motion to reduce the muscle effort during walking and the assistive forces of both joints can be controlled independently via a single actuator. Obtained results revealed the capacity of the proposed exoskeleton in improving walking performance and the potential of minimizing the system complexity when assisting more human joints with the developed actuators.

Legged locomotion Actuators Power demand Mechatronics Machine vision Exoskeletons Force

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China[61903181];

Automation & Control Systems ; Computer Science ; Engineering

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

WOS:000783817900017

20220811682519

Actuators ; Exoskeleton (Robotics) ; Walking aids

Rehabilitation Engineering and Assistive Technology:461.5 ; Biomedical Equipment, General:462.1 ; Robotics:731.5 ; Control Equipment:732.1

2-s2.0-85124792035

Scopus

Southern University of Science and Technology,Department of Biomedical Engineering,Shenzhen,Nanshan District,518055,China

Guo，Kaiqi,Zhong，Bin,Zhang，Changqi,et al. A Walking Assistance Exoskeleton with Individual Control of Multiple Cables via a Single Actuator: Design and Evaluation[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:96-100.