NDLI: Mechanical design of the Hanyang Exoskeleton Assistive Robot(HEXAR)

Content Provider	IEEE Xplore Digital Library
Author	Wansoo Kim Heedon Lee Donghwan Kim Jungsoo Han Changsoo Han
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea (Wansoo Kim; Heedon Lee; Donghwan Kim) \|\| Dept. of Mech. Syst. Eng., Hansung Univ., Seoul, South Korea (Jungsoo Han) \|\| Dept. of Robot Eng., Hanayng Univ. ERICA, Ansan, South Korea (Changsoo Han)
Abstract	This study developed a lower extremity exoskeleton system to enhance lower body strength. In this paper, selected the degrees of freedom (DOF) which actuated based on analyzed human motion, and analyzed the human joint function to design the joint modules of the exoskeletal robot. To improve the efficiency of the exoskeleton robot, a mechanical structure was designed on the basis of a semi-anthropomorphic architecture. The Hanyang EXskeleton Assistive Robot (HEXAR) has seven degrees of freedom per leg, two of which are powered by an electrical motor. Appropriately sized motors and gearing are selected, and put through a thorough power analysis. quasi-passive mechanisms were designed with compliance material for supporting the weight of external loads in the stance phase and absorbing/releasing the energy. This paper discusses design criteria considered in mechanical design for HEXAR.
Starting Page	479
Ending Page	484
File Size	9081132
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6988049
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Legged locomotion Knee Integrated circuits electric motor Exoskeleton Propulsion biomechanics mechanism Joints Hip Foot mechanical design
Content Type	Text
Resource Type	Article

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