Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage
- Authors
- Lim, Donghwan; Kim, Wansoo; Lee, Heedon; Kim, Hojun; Shin, Kyoosik; Park, Taejoon; Lee, Jiyeong; Han, Changsoo
- Issue Date
- Dec-2015
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Exoskeletons; Knee; Legged locomotion; Robot sensing systems; Springs; Torque
- Citation
- IEEE International Conference on Intelligent Robots and Systems, v.2015, pp.5345 - 5350
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE International Conference on Intelligent Robots and Systems
- Volume
- 2015
- Start Page
- 5345
- End Page
- 5350
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/20628
- DOI
- 10.1109/IROS.2015.7354132
- ISSN
- 2153-0858
- Abstract
- This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF for the ankle joints. Through functional analysis of each human joint, two DOFs were composed of active joints using an electric motor developed in an under-actuated form with heightened efficiency. The rest of the DOFs were composed of passive or quasi-passive joints to imitate human joints. The control of the exoskeleton robot was based on the physical human-robot interaction. In order to verify the performance of the developed HEXAR-CR50, muscle activity was measured using electromyography, vGRF was measured using F-Scan sensor. The experimental results showed that %MVIC was reduced against the external load applied, while GRF had a decrement rate, compared with the external load when the exoskeleton was worn, which verified the performance in accordance with the development objective of load carrying. A muscle strength augment effect from the developed wearable robot was verified. © 2015 IEEE.
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