MATEC Web Conf.
Volume 291, 20192019 The 3rd International Conference on Mechanical, System and Control Engineering (ICMSC 2019)
|Number of page(s)||5|
|Published online||28 August 2019|
Design and Implementation of a Lightweight Lower Extremity Exoskeleton
1 State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
2 Department of Fluid Control and Automation, Harbin Institute of Technology, Harbin, 150001, China
a Corresponding author: email@example.com
This paper summarizes the biomechanics simulation and design of a lightweight lower extremity exoskeleton. The biomechanics simulation was carried out using LifeMOD to obtain joint torques of human body in the condition of its applications including walking on flat ground, ascending stairs, sitting down and standing up which provided the design criteria of actuating torques. The anthropomorphically based exoskeleton has 7 degrees of freedom per leg, two of which are powered by brushless DC motors, and the total mass is less than 12 kg due to the use of carbon fiber material and the compact structural design and optimization. Controlling and sensing system based on CANopen communication protocol is proposed which can provide high communication efficiency and reliability for the control of the exoskeleton.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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