Abstract
The paper describes conceptual design and control strategies for a new fully autonomous lower limb exoskeleton system. The main advantage of the system is its ability to decouple the weight/mass carrying function of the system from its forward motion function to reduce power consumption, weight and size of the propulsion motors. An efficient human machine interface has been achieved by means two sets of sensors: one (flexible sensors) to monitor subject leg’s shank and ankle movements and the second to monitor subject’s foot pressure. The weight is supported by a couple of passive pneumatic cylinders with electronically controlled ports. Joint motors of the exoskeleton then are only left to timely drive links of the exoskeleton when the legs take step. Therefore, motors consume less electrical energy and are small in size. In contrast to other existing exoskeleton designs, the motor batteries are able to sustain the energy supply for a longer travel distance before discharging.
| Original language | English |
|---|---|
| Pages (from-to) | 289-301 |
| Number of pages | 13 |
| Journal | Lecture Notes in Mechanical Engineering |
| DOIs | |
| Publication status | Published - Jan 1 2017 |
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Keywords
- Energy efficient system
- Exoskeleton
- Motion enhancement
- Robotics
ASJC Scopus subject areas
- Automotive Engineering
- Aerospace Engineering
- Mechanical Engineering
- Fluid Flow and Transfer Processes
Cite this
Conceptual design of energy efficient lower extremity exoskeleton for human motion enhancement and medical assistance. / Mir-Nasiri, Nazim.
In: Lecture Notes in Mechanical Engineering, 01.01.2017, p. 289-301.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Conceptual design of energy efficient lower extremity exoskeleton for human motion enhancement and medical assistance
AU - Mir-Nasiri, Nazim
PY - 2017/1/1
Y1 - 2017/1/1
N2 - The paper describes conceptual design and control strategies for a new fully autonomous lower limb exoskeleton system. The main advantage of the system is its ability to decouple the weight/mass carrying function of the system from its forward motion function to reduce power consumption, weight and size of the propulsion motors. An efficient human machine interface has been achieved by means two sets of sensors: one (flexible sensors) to monitor subject leg’s shank and ankle movements and the second to monitor subject’s foot pressure. The weight is supported by a couple of passive pneumatic cylinders with electronically controlled ports. Joint motors of the exoskeleton then are only left to timely drive links of the exoskeleton when the legs take step. Therefore, motors consume less electrical energy and are small in size. In contrast to other existing exoskeleton designs, the motor batteries are able to sustain the energy supply for a longer travel distance before discharging.
AB - The paper describes conceptual design and control strategies for a new fully autonomous lower limb exoskeleton system. The main advantage of the system is its ability to decouple the weight/mass carrying function of the system from its forward motion function to reduce power consumption, weight and size of the propulsion motors. An efficient human machine interface has been achieved by means two sets of sensors: one (flexible sensors) to monitor subject leg’s shank and ankle movements and the second to monitor subject’s foot pressure. The weight is supported by a couple of passive pneumatic cylinders with electronically controlled ports. Joint motors of the exoskeleton then are only left to timely drive links of the exoskeleton when the legs take step. Therefore, motors consume less electrical energy and are small in size. In contrast to other existing exoskeleton designs, the motor batteries are able to sustain the energy supply for a longer travel distance before discharging.
KW - Energy efficient system
KW - Exoskeleton
KW - Motion enhancement
KW - Robotics
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UR - http://www.scopus.com/inward/citedby.url?scp=85019583262&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-33581-0_22
DO - 10.1007/978-3-319-33581-0_22
M3 - Article
AN - SCOPUS:85019583262
SP - 289
EP - 301
JO - Lecture Notes in Mechanical Engineering
JF - Lecture Notes in Mechanical Engineering
SN - 2195-4356
ER -