Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

Lím, D.; Kim, Wansoo; Lee, Heedon; Kim, Hojun; Shin, Kyung-Hoon; Park, Taejoon; Lee, Jiyeong; Han, Changsoo

doi:10.1109/iros.2015.7354132

Cited by 33 publications

(23 citation statements)

References 9 publications

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“…The sum of the load cells is classified into stance and swing phases, again by means of a threshold. Lim et al [92] use a similar method, whilst Ka et al [93] have designed an under-foot air pressure sensor system to detect CoG movements in the coupling system during walking and detect the swing and stance events between the two legs. Zhou et al [95] use plantar pressure and knee joint velocity to classify five gait events according to a threshold, including early stance; middle stance; late stance; swing knee flexion; and swing knee extension.…”

Section: Posture Estimation Modelmentioning

confidence: 99%

“…In the active mode, the controller aims to minimize the interaction torque and compensates for gravity and the friction of the exoskeleton. Lim et al's [92] Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 employs a two-state FSM model-based controller. A tracking control law is used to prevent the interaction force from going to zero in the swing state.…”

Section: Assistive Strategies Based On Posturementioning

confidence: 99%

See 1 more Smart Citation

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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Section: Posture Estimation Modelmentioning

confidence: 99%

Section: Assistive Strategies Based On Posturementioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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“…Recently, the lower extremity exoskeleton Hanyang Exoskeleton Assistive Robot CR50 (HEXAR-CR50) was developed. 75 The exoskeleton consists of seven DOFs per leg. The hip and knee extension/flexion joints were selected to be active.…”

Section: Lower Limbs Exoskeletonsmentioning

confidence: 99%

“…Thus, these exoskeletons will only be briefly introduced. 36,69 -1 (A) -QA MIT exoskeleton 70,71 1 (A) 1 (QP) -QA Hanyang University exoskeleton 72 2 (QP) 1 (A) 1 (QP) QA Agri-Robot 73 1 (A) 1 (A) -QA PERCRO BE 44 3 (A) 1 (A) 2 (A) NA HEXAR-CR50 75 1 (A) 1 (A) 1 (QP) QU Human 3 1 3…”

Section: Lower Limbs Exoskeletonsmentioning

confidence: 99%

Empowering lower limbs exoskeletons: state-of-the-art

et al. 2018

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SUMMARYGiven the advanced breakthroughs in the field of supportive robotic technologies, interest in the integration of the human body and a robot into a single system has rapidly increased. The aim of this work is to provide an overview of empowering lower limbs exoskeletons. Along with lower exoskeleton limbs, their unique design concepts, operator–exoskeleton interactions and control strategies are described. Although many problems have been solved in recent development, many challenges remain. Especially in the context of infantry soldiers, fire fighters and rescuers, the challenges of empowering exoskeletons are discussed, and improvements are outlined and described. This study is not only a summary of the current state, but also points to weaknesses of empowering lower limbs exoskeletons and outlines possible improvements.

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“…Moreover, the identification of parameters for the modeling process of an exoskeleton requires considerable time and effort, where this process is subject to uncertainties in the case of the dynamics-based models. In Lim et al's study, 17 HEXAR-CR50 was demonstrated through experiments with a payload. It was operated with a 20-kg payload at a maximum speed of 0.8 m/s (3 km/h).…”

Section: Introductionmentioning

confidence: 99%

Control of power-augmenting lower extremity exoskeleton while walking with heavy payload

Choi

Seo

Lee

et al. 2019

International Journal of Advanced Robotic Systems

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This article presents a design and control framework for a prototype of lower extremity exoskeleton to enhance the human strength during locomotion. The hybrid control strategy is practically applied according to the two gait phases, that is, stance and swing. The weight shift method based on human’s weight shift information was proposed and implemented to acquire the detection of gait phase. In the stance phase, a stiff virtual wall method is applied to support the entire weight of the exoskeleton while carrying a heavy payload. Direct feedback and feed-forward torque control are used to reduce mechanical impedance in the swing phase. In experiments, to verify the performance of the proposed control strategy, a human subject wearing the prototype of power-augmenting lower extremity exoskeleton was able to walk with a 50-kg (110-lb) payload at a maximum speed of 1.67 m/s (6 km/h). Satisfactory results were obtained with regard to walking experiments with the heavy payload.

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Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

Cited by 33 publications

References 9 publications

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Empowering lower limbs exoskeletons: state-of-the-art

Control of power-augmenting lower extremity exoskeleton while walking with heavy payload

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