Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking

Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking

An innovative lower extremity exoskeleton, SJTU-EX, is demonstrated in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motion. This paper summarizes the mechanical design of SJTU-EX. Each pseudo-anthropomorphic leg of SJTU-EX has four active joint...

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Bibliographic Details
Main Authors: Yunjie Miao, Feng Gao, Dalei Pan
Format: Article
Language:English
Published: SAGE Publishing 2013-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/57238
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spelling doaj-52c7d38580b940c0bceda1f02f431a252020-11-25T03:19:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-11-011010.5772/5723810.5772_57238Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for WalkingYunjie Miao0Feng Gao1Dalei Pan2 State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaAn innovative lower extremity exoskeleton, SJTU-EX, is demonstrated in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motion. This paper summarizes the mechanical design of SJTU-EX. Each pseudo-anthropomorphic leg of SJTU-EX has four active joints and two passive joints, and the joint ranges are optimized in consideration of both safety factors and the realization of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints. Novel Hy-Mo actuators are introduced for SJTU-EX and the layout of the actuator for Diamond Side 2 is described in detail as a design example.https://doi.org/10.5772/57238
collection DOAJ
language English
format Article
sources DOAJ
author Yunjie Miao
Feng Gao
Dalei Pan
spellingShingle Yunjie Miao
Feng Gao
Dalei Pan
Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
International Journal of Advanced Robotic Systems
author_facet Yunjie Miao
Feng Gao
Dalei Pan
author_sort Yunjie Miao
title Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
title_short Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
title_full Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
title_fullStr Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
title_full_unstemmed Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking
title_sort mechanical design of a hybrid leg exoskeleton to augment load-carrying for walking
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-11-01
description An innovative lower extremity exoskeleton, SJTU-EX, is demonstrated in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motion. This paper summarizes the mechanical design of SJTU-EX. Each pseudo-anthropomorphic leg of SJTU-EX has four active joints and two passive joints, and the joint ranges are optimized in consideration of both safety factors and the realization of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints. Novel Hy-Mo actuators are introduced for SJTU-EX and the layout of the actuator for Diamond Side 2 is described in detail as a design example.
url https://doi.org/10.5772/57238
work_keys_str_mv AT yunjiemiao mechanicaldesignofahybridlegexoskeletontoaugmentloadcarryingforwalking
AT fenggao mechanicaldesignofahybridlegexoskeletontoaugmentloadcarryingforwalking
AT daleipan mechanicaldesignofahybridlegexoskeletontoaugmentloadcarryingforwalking
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