SoochowExo: a Lightweight Hip Exoskeleton Driven by Series Elastic Actuator with Active-type Continuously Variable Transmission

被引：2

作者：

Ning, Chuanxin ^{[1
]}

Li, Yang ^{[1
]}

Feng, Kaixiang ^{[1
]}

Gong, Zhenghua ^{[1
]}

Zhang, Ting ^{[1
]}

机构：

[1] Soochow Univ, Coll Mech & Elect Engn, Robot & Microsystems Ctr, Suzhou, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022) | 2022年

基金：

国家重点研发计划;

关键词：

Hip Exoskeleton; Actively Variable Reduction Ratio; Series Elastic Actuator; DESIGN;

D O I：

10.1109/ICMA54519.2022.9855957

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To overcome the different requirements of torque-velocity characteristics for walking, running, stand-to-sit, sit-to-stand, and climbing stairs, we propose a novel concept for actuator design, namely, a series elastic actuator with actively variable reduction ratio transmission. The reduction ratio can be adjusted in real-time to realize variable torque-velocity characteristics. A novel lightweight wearable hip exoskeleton driven by a series elastic actuator with actively variable reduction ratio transmission, named SoochowExo, has been developed in this paper for use in the elderly population. The weight of the whole hip exoskeleton is 1.8 kg (excluding batteries), including three actuators and the frame. The benchtop tests and the preliminary human subject tests further confirm the design and controller.

引用

页码：1432 / 1437

页数：6