文章基本信息

标题：Design and control of hybrid actuation lower limb exoskeleton
本地全文：下载
作者：Hipolito Aguilar-Sierra ; Wen Yu ; Sergio Salazar 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：6
DOI：10.1177/1687814015590988
语种：English
出版社：Sage Publications Ltd.
摘要：In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.
关键词：Robotics; medical devices; modeling; actuators; pneumatics