Open AccessDesign and analysis of a lower extremity exoskeleton with the humanoid knee joint
Author(s) -
Tingting Li,
Jian Li,
Zhonghua Han,
Jin Yang,
Qiang Li
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1633/1/012052
Subject(s) - exoskeleton , knee joint , joint (building) , humanoid robot , actuator , computer science , work (physics) , simulation , engineering , artificial intelligence , structural engineering , mechanical engineering , robot , medicine , surgery
Exoskeletons should have certain capabilities and characteristics such as human performance enhancement, low impedance and comfortable. In this paper we present a lower extremity exoskeleton. In order to achieve the characteristics of exoskeletons mentioned above we choose the Series Elastic Actuator (SEA) as its driver. A novel humanoid knee joint is introduced into the exoskeleton to improve the coordination between exoskeleton and human body during work progress. A stable control method is proposed to achieve the exoskeleton joint following motion. Finally, the feasibility of control algorithm is verified by simulation.