Development of a lower extremity exoskeleton - Preliminary study for dynamic walking

2004 8th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Volumn 3, Issue , 2004, Pages 2088-2093

  Low, K H ^a   Liu, Xiaopeng ^a   Yu, Hao Yong ^b   Kasim, Hendra S ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b DSO NATIONAL LABORATORIES   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

EXOSKELETON; HUMANOID ROBOTS; MYOELECTRICITY; PERFORMANCE ENHANCEMENT;

ACTUATORS; ALGORITHMS; CONTROL THEORY; DURABILITY; MOBILE ROBOTS; POSITION CONTROL; SIGNAL PROCESSING; TRAJECTORIES;

ROBOTICS;

EID: 21244432038     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. M. Vukobratović, B. Borovac, D. surla and D. stokié, Biped Locomotion: Dynamics, Stability, Control, and Application, Springer-Verlag, Berlin, 1990.
2. H. Kazerooni, "Extender: a case study for human-robot interaction via transfer of power and information signals," Proceedings of 2nd IEEE International Workshop on Robot and Human Communication, pp. 10-20, 1993.
3. H. Kazerooni, "Human power extender: an example of human-machine interaction via the transfer of power and information signals," Proceedings of the 5th International Workshop on Advanced Motion Control, pp. 565-572, 1998.
4. J. Rosen, M. Brand, M. B. Fuchs, and M. Arcan, "A myosignal-based powered exoskeleton system," IEEE Transactions on Systems, Man and Cybernetics, Part A, vol. 31, no. 3, pp. 210-222, 2001.
5. M. Bergamasco, B. Allotta, L. Bosio, L. Ferretti, G. Parrini, G. M. Prisco, F. Salsedo, and G. Sartini, "An arm exoskeleton system for teleoperation and virtual environments appliactions," IEEE International Conference on Robotics and Automation, vol. 2, pp. 1449-1454, 1994.
6. Sarcos Online, http://www.sarcos.com. June, 2004.
7. K. Kasaoka and Y. Sankai, "Predictive control estimating operators intention for stepping-up motion by exoskeleton type power assist system HAL," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1578-1583, 2001.
8. H. Kawamoto and Y. Sankai, "Comfortable power assist control method for walking aid by HAL-3," Proceedings of IEEE International Conference on Systems, Man and Cybernetics, 6 pages, 2002.
9. M. W. Whittle, Gait Analysis: An Introduction, Butterworth-Heinemann, Oxford, 1991.
10. M. Vukobratović and D. Juricic, "Contribution to the Synthesis of Biped Gait," IEEE Transactions on Bio-Medical Engineering, BME-16, No.1, pp. 1-6, 1969.
11. A. Dasgupta and Y. Nakamura, "Making feasible walking motion of humanoid robots from human motion capture data," Proceedings of IEEE International Conference on Robotics and Automation, vol.2, pp. 1044-1049, 1999.
12. K. Hirai, M. Hirose, Y. J. Haikawa and T. Takenaka, "The development of Honda humanoid robot," Proceedings of the 1998 IEEE International Conference on Robotics and Automation, pp. 1321-1326, 1998.
13. K. H. Low and Aiqiang Yang, "Design and foot contact of a leg mechanism with a flexible gear system," Proceedings of 2003 IEEE International Conference on Robotics and Automation, vol. 1, pp. 324-329, 2003.
14. Flexiforce, http://www.tekscan.com/flexiforce.html, June, 2004.