NDLI: An autonomous, underactuated exoskeleton for load-carrying augmentation

Content Provider	IEEE Xplore Digital Library
Author	Walsh, C.J. Pasch, K. Herr, H.
Copyright Year	2006
Description	Author affiliation: MIT Media Lab, Massachusetts Inst. of Technol., Cambridge, MA (Walsh, C.J.; Pasch, K.; Herr, H.)
Abstract	Metabolic studies have shown that there is a metabolic cost associated with carrying load (T. M. Griffen, et al., 2003). In previous work, a lightweight, underactuated exoskeleton has been described that runs in parallel to the human and supports the weight of a payload (C. J. Walsh, et al., 2006). A state-machine control strategy is written based on joint angle and ground-exoskeleton force sensing to control the joint actuation at this exoskeleton hip and knee. The joint components of the exoskeleton in the sagittal plane consist of a force-controllable actuator at the hip, a variable-damper mechanism at the knee and a passive spring at the ankle. The control is motivated by examining human walking data. Positive, non-conservative power is added at the hip during the walking cycle to help propel the mass of the human and payload forward. At the knee, the damper mechanism is turned on at heel strike as the exoskeleton leg is loaded and turned off during terminal stance to allow knee flexion. The passive spring at the ankle engages in controlled dorsiflexion to store energy that is later released to assist in powered plantarflexion. Preliminary studies show that the state machines for the hip and knee work robustly and that the onset of walking can be detected in less than one gait cycle. Further, it is found that an efficient, underactuated leg exoskeleton can effectively transmit payload forces to the ground during the walking cycle
Starting Page	1410
Ending Page	1415
File Size	6901159
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281932
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Knee Hip Legged locomotion Humans Payloads Force control Springs Leg Costs walking exoskeleton state-machine control
Content Type	Text
Resource Type	Article

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