NDLI: Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Content Provider	IEEE Xplore Digital Library
Author	Yanhe Zhu Jinxiang Cui Jie Zhao
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China (Yanhe Zhu; Jinxiang Cui; Jie Zhao)
Abstract	Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG. LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1119
Ending Page	1124
File Size	856924
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739614
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Exoskeletons Legged locomotion Hip Knee Biological system modeling Torque
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Design analysis of a passive weight-support lower-extremity-exoskeleton with compliant knee-joint

Wearable human lower limb prototype exoskeleton: An operative approach

The design and development of a lower limbs rehabilitation exoskeleton suit

Locomotion control strategy of hydraulic lower extremity exoskeleton robot

Designing a 12 DoF lower extremity exoskeleton based on the gait kinematics data

Modeling, simulation & control of human lower extremity exoskeleton

Control of lower limb exoskeleton for elderly assistance on basic mobility tasks

Control of a lower limb exoskeleton using GRF estimation

Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Similar Documents

Design analysis of a passive weight-support lower-extremity-exoskeleton with compliant knee-joint

Wearable human lower limb prototype exoskeleton: An operative approach

The design and development of a lower limbs rehabilitation exoskeleton suit

Locomotion control strategy of hydraulic lower extremity exoskeleton robot

Designing a 12 DoF lower extremity exoskeleton based on the gait kinematics data

Modeling, simulation & control of human lower extremity exoskeleton

Control of lower limb exoskeleton for elderly assistance on basic mobility tasks

Control of a lower limb exoskeleton using GRF estimation

Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton