| Summary: | 碩士 === 國立高雄應用科技大學 === 機械工程系 === 105 === A wearable lower-limb exoskeleton with force-based interface is developed for augmenting the load-carrying capability of users. Each limb of the exoskeleton has six degrees of freedom, however only the two joints at hip and knee are equipped with actuators. In order to control the exoskeleton such that its motion is almost synchronous with the user, force measuring modules are designed to measure the interaction forces between the exoskeleton and the user at waist, ankles, and foot soles. One of the interaction forces at waist is used to generate the stoop motion, while the others are used to generate the motions of ankles with respective to the waist by using the impedance control strategy. The desired angles of hip joints and knee joints can then be determined from the numerical integration method and inverse kinematic method. Finally, the position control method is applied to drive the exoskeleton to achieve the desired posture and motion of the user. Preliminary experiments of the prototype show that the exoskeleton and the control method can successfully transfer its weight and load to the ground, and the user almost does not feel the existence of the load. Besides, the prototype is also verified to be very helpful for those activities such as squatting, stooping, walking, and climbing stairs.
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