Title :
A lower limb exoskeleton with hybrid actuation
Author :
Aguilar-Sierra, Hipolito ; Lopez, Ricardo ; Wen Yu ; Salazar, Sergio ; Lozano, Rogelio
Author_Institution :
Dept. of Autom. Control, CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In this paper, the lower limb exoskeleton uses a harmonic drive actuator and two pneumatic artificial muscles (PAMs). This hybrid actuation takes both advantages of harmonic drive and PAM. It provide high accuracy position control and compliant behavior. The disadvantages of each type of actuator are overcome. This exoskeleton is suitable for the strength augmentation of human lower limbs, such as the gait rehabilitation routine of hip and knee joints.
Keywords :
pneumatic actuators; position control; PAM; compliant behavior; gait rehabilitation routine; harmonic drive actuator; hip joints; hybrid actuation; knee joints; lower limb exoskeleton; pneumatic artificial muscles; position control; strength augmentation; Actuators; Exoskeletons; Harmonic analysis; Hip; Joints; Knee; Muscles;
Conference_Titel :
Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on
Conference_Location :
Sao Paulo
Print_ISBN :
978-1-4799-3126-2
DOI :
10.1109/BIOROB.2014.6913859
