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A dual-drive four joint time-sharing control walking power-assisted flexible exoskeleton robot system

Published online by Cambridge University Press:  10 June 2022

Jinke Li Open the ORCID record for Jinke Li [Opens in a new window] ,
Yong He ,
Jianquan Sun ,
Pengfei Li  and
Xinyu Wu
Jinke Li*
Affiliation:
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, China
Yong He
Affiliation:
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, China
Jianquan Sun
Affiliation:
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
Pengfei Li
Affiliation:
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
Xinyu Wu
Affiliation:
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
*
*Corresponding author. E-mail: jk.li@siat.ac.cn
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Abstract

Exoskeleton robot can assist people and reduce energy consumption when they walk with heavy weight, so as to protect their health and travel longer distances. This work analyzes the cross gait during walking and designs a dual-drive four joint time-sharing assistance exoskeleton system, which controls the four joints through two motors to realize the assistance to the wearer’s movement process. The control curve and adaptive control algorithm are designed to help different people with various walking gaits and speeds, the effectiveness of exoskeleton system is proved by testing metabolism. When the exoskeleton wearer carries 25 kg weight (load equal to 36% of body mass) and travels at the average speed of 5 km/h, the metabolic rate of the exoskeleton wearers decreases by an average of 7.79%, the reduction magnitude is comparable to the effect of taking off 7.33 kg during walking.

Keywords

walking analysisdual-drive four jointtime-sharing controlflexible exoskeletonmetabolic rate
Type
Review Article
Information
Robotica , Volume 41 , Issue 3 , March 2023 , pp. 821 - 832
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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