Proceedings ArticleDOI
Development of straight style transfer equipment for lower limbs disabled
Yoshikazu Mori,Kazuhiro Takayama,T. Nakamura +2 more
- Vol. 3, pp 2486-2491
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TLDR
This work developed straight style transfer equipment for a person with disabled legs that realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs.Abstract:
We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs. This equipment comprises three modules: a pair of elastic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We show the conceptual design of the equipment and the motion of each module. Cooperative operations using three modules are discussed through simulations. We verified travel in a standing position, including rotation, through experiments using prototypes of elastic crutches and mobile platforms.read more
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Journal ArticleDOI
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Aaron M. Dollar,Hugh M. Herr +1 more
TL;DR: The history and state of the art of lower limb exoskeletons and active orthoses are reviewed and a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature are provided.
Journal ArticleDOI
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
A.B. Zoss,H. Kazerooni,A. Chu +2 more
TL;DR: The Berkeley lower extremity exoskeleton (BLEEX) as mentioned in this paper has 7 DOF per leg, four of which are powered by linear hydraulic actuators, and the selection of the DOF, critical hardware design aspects and initial performance measurements of BLEEX are discussed.
Proceedings ArticleDOI
On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
TL;DR: The mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) is summarized, which has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators.
Patent
Lower extremity exoskeleton
TL;DR: In this article, a lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports, each consisting of a thigh link, a shank link, and two knee joints.
Patent
Lower extremity enhancer
TL;DR: In this paper, a lower extremity enhancer to be worn by a user includes two leg supports having a plurality of jointed links, and the leg supports are connected to a back frame.
References
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Proceedings ArticleDOI
Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint
S. Lee,Yoshiyuki Sankai +1 more
TL;DR: The results showed the amplitudes of EMG were reduced significantly, the operator was able to swing the leg lighter by reducing the inertia around knee, and the strain of knee in foot-grounding could be alleviated by adding the stiffness to joint.
Proceedings ArticleDOI
Power assist control for leg with HAL-3 based on virtual torque and impedance adjustment
Suwoong Lee,Yoshiyuki Sankai +1 more
TL;DR: A method of power assist control for lower body based on neuromuscular signal, s-EMG (surface ElectroMyogram/Myoelectricity), and impedance adjustment around knee joint with the assist system, HAL (Hybrid Assistive Leg) -3 is developed.