NDLI: Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)

Content Provider	IEEE Xplore Digital Library
Author	Zoss, A.B. Kazerooni, H. Chu, A.
Copyright Year	1996
Abstract	Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.
Starting Page	128
Ending Page	138
Page Count	11
File Size	889270
File Format	PDF
ISSN	10834435
Volume Number	11
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Extremities Exoskeletons Intelligent robots Leg Vehicles Biological materials Humans Intelligent actuators Legged locomotion Mobile robots robotics Biomimetics exoskeletons mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)