Design of Compliant Joints and Human-Robot Connection in an Ankle-Foot Exoskeleton

被引:0
作者
Zhu, Jinying [1 ,2 ]
She, Haotian [1 ,2 ]
Sun, Wentao [1 ,2 ]
Li, Xin [1 ,2 ]
Zhang, Xiaohua [1 ,2 ]
Huang, Qiang [1 ,2 ]
机构
[1] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing 100081, Peoples R China
来源
2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS) | 2017年
基金
中国国家自然科学基金;
关键词
MODEL; GAIT;
D O I
暂无
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents the design of compliant ankle and toe joints and a human-robot connection in an ankle-foot exoskeleton. The ankle joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe joint with compliance, the toe joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a revolution joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.
引用
收藏
页码:103 / 107
页数:5
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