IROS 2015poster18 citations
The SoftGait: A simple and powerful weight-support device for walking and squatting
Yun-Pyo Hong, Donghan Koo, Ji-il Park, Soohyun Kim, Kyung-Soo Kim
Abstract
When designing a lower-limb assisting robot with body-weight support (BWS), it is important to achieve high force fidelity to support body weight at standing phase. Low impedance operation at swing phase is also required not to disturb leg motions for users. The SoftGait is designed to achieve both performances with a simple mechanical structure based on a pneumatic actuator and low cost sensor development. The SoftGait generates large force for body-weight-supporting in squatting mode corresponding to user's body weight. In fact, in walking mode, it enables a user to experience more comfortable walking with support from intrinsic compliance.
BibTeX
@inproceedings{iros2015_thesoftgaitasimp,
title = {The SoftGait: A simple and powerful weight-support device for walking and squatting},
author = {Yun-Pyo Hong and Donghan Koo and Ji-il Park and Soohyun Kim and Kyung-Soo Kim},
booktitle = {IROS 2015},
year = {2015}
}