Title :
Modelling of the union of a human and a walk aid device: Exoskeleton
Author :
Mendez, R. Cristian ; Rengifo R, Carlos F. ; Ordonez, A.
Author_Institution :
Fundacion Univ. de Popayan, Fundacion, Colombia
Abstract :
The aim of this paper is to propose a mechanism for assisting human walking. Firstly, a cyclic walking is defined for a biped over a horizontal floor. Secondly, the modeling of the human + exosquelette union is presented. Such model of human-exoskeleton union involves a mechanical structure with kinematic constraints. Finally, we demonstrate that the proposed structure decreases the amount of human effort required during the cyclic walking.
Keywords :
human-robot interaction; legged locomotion; medical robotics; patient rehabilitation; biped; cyclic walking; horizontal floor; human effort; human walking; human+exosquelette union; human-exoskeleton union; human-walk aid device union; mechanical structure; Exoskeletons; Floors; Foot; Joints; Legged locomotion; Mathematical model; energy criterion; exoskeleton; human; optimization of trajectory;
Conference_Titel :
Engineering Mechatronics and Automation (CIIMA), 2014 III International Congress of
Conference_Location :
Cartagena
Print_ISBN :
978-1-4799-7931-8
DOI :
10.1109/CIIMA.2014.6983437
