首页|Design and analysis of a novel 12-DOF self-balancing lower extremity exoskeleton for walking assistance
Design and analysis of a novel 12-DOF self-balancing lower extremity exoskeleton for walking assistance
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NSTL
Elsevier
Lower extremity exoskeletons are often used as walking assistance rehabilitation robots for paralyzed patients. However, due to the requirement of crutches or other devices to maintain balance, the under-actuated exoskeleton has limited applicability. This paper aims to design a novel mechanism for the self-balancing lower extremity exoskeleton, which structurally consistent with the human anatomy and fully actuated with 12 DOFs. In this study, based on the humancentered design principles, a bio-inspired exoskeleton mechanism synthesis methodology is presented. The novel serial-parallel hybrid mechanism is designed based on a 3-DOF RCM hip mechanism, 1-DOF parallelogram-linkage knee mechanism, and 2-DOF decoupled parallel ankle mechanism. To describe the forward and inverse kinematics of the mechanism, the closed-form solutions by the D-H method and geometric method are obtained, respectively. In addition, to analyze the exoskeleton workspace, the reachable workspace equations in the double foot support and single foot support phases are established. The numerical simulation and experimental results show the kinematics model validity and self-balancing walking ability, which illustrate the feasibility of the proposed exoskeleton mechanism.
NSTL
Elsevier
