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| Content Provider | IET Digital Library |
|---|---|
| Author | Koo, Donghan Kim, Byungjin Kim, Kyung Soo Kim, Soohyun |
| Abstract | To assist the mobility handicapped, it is necessary to support their body weight in part using an assistive device. Since the human leg can be modelled by a spring during the gait, the assistive device (or robot) should have a certain level of compliance in order to achieve natural gait assistance. A pneumatic cylinder is added in parallel to a leg (which is also a spring) for antigravity with compliance. By simulation, the compliant gravity assistance effectively reduces the required forces and torques at the joints of leg. Using this idea, a prototype of an assistive robot named SoftGait is developed and experiments are performed to verify its efficacy. |
| Starting Page | 1208 |
| Ending Page | 1209 |
| Page Count | 2 |
| ISSN | 00135194 |
| Volume Number | 49 |
| e-ISSN | 1350911X |
| Issue Number | Issue 19, Sep (2013) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/el/49/19 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/el.2013.2155 |
| Journal | Electronics Letters |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Biological And Medical Control System Body Weight Gait Analysis Human Leg Medical Robotics Mobility Handicapped Assistance Natural Gait Assistance Physics of Body Movement Pneumatic Cylinder Pneumatically Actuated Robot Legs Robotics SoftGait Assistive Robot Spring Torque Torques Walking Assistance |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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