Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage
Donghwan Lim, Wansoo Kim, Heedon Lee, Hojun Kim, Kyoosik Shin, Taejoon Park, JiYeong Lee, Changsoo Han
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.
BibTeX
@inproceedings{iros2015_developmentofalo,
title = {Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage},
author = {Donghwan Lim and Wansoo Kim and Heedon Lee and Hojun Kim and Kyoosik Shin and Taejoon Park and JiYeong Lee and Changsoo Han},
booktitle = {IROS 2015},
year = {2015}
}