A Passive Lifting Assist Exoskeleton with Multiple Working Modes: Theoretical Evaluation and Design Concepts

Zheng, Size; Yuan, Beizhe; Ferreira, José Ribeiro; Liu, Tao; Li, Tong; He, Long; Wang, Xinrui

doi:10.1109/cvci51460.2020.9338652

Cited by 4 publications

(1 citation statement)

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“…So, the load also rises and falls with the height of the body's center of mass during walking. However, for walking, the work in this direction is useless, that is, when the human body is carrying the load of the torso, in addition to the work required for the load to move along the walking direction, it also needs to provide additional work to make the load rise and fall [8][9]. If we try to reduce this part of extra work in the design of assisting mechanism such as exoskeleton, the overall assist effect of exoskeleton will be significantly improved [10].…”

Section: Introductionmentioning

confidence: 99%

Response of Passive Exoskeleton to Torso Load under Natural Gait

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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Torso loads is the most common load form of daily life. Backpacks carried daily and radiation protection clothing worn by some specific workers belong to the category of torso load. When this kind of load is worn and walked by human body, it will fluctuate with the height of human centroid. For walking, what is done in this direction is useless. Under certain circumstances, such as marching, it is often required to walk with a large amount of load for a long time and the external environment cannot provide a sustainable energy supply. For the sake of to reduce the extra work required by load fluctuation in walking in passive condition, this paper first calculates the curve of human centroid change of natural gait, and obtains that the extra work required by unit mass in one gait cycle change are 0.72 J. After that, the spring mass damping model is established, and the change curve of human centroid is taken as the system input, and the energy reduction and shock absorption ability of exoskeleton models with different natural frequencies under the premise of a certain load mass is obtained, at the same time, the load weight ratio curve and theoretical energy reduction efficiency curve required to achieve energy reduction effect under different damping ratios are drawn. That provides theoretical basis of designing structural stiffness and damping for related research, and has high application value.

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Section: Introductionmentioning

confidence: 99%