A robotic orthosis with a cable-differential mechanism

Park, Jaehwan; Park, Seunghan; Park, Chan Ho; Jung, Seungmin; Kim, Chan-Kyu; Park, Jong Hyeon; Choi, Junho

doi:10.1109/icra.2017.7989065

Cited by 4 publications

(2 citation statements)

References 10 publications

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“…This sensing technique measures the continuous distribution of the electrical impedance between fabric electrodes, which correlates with the force distribution from external contact. [ 95–101 ]…”

Section: Discussionmentioning

confidence: 99%

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

Kim,

Lee,

Chang

et al. 2023

Advanced Intelligent Systems

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In this article, a novel approach to enhance the maneuverability and adaptability of legged robots in challenging environments is proposed. This approach involves the integration of soft inflatable sensing skin, which provides additional mobile modes and environmental adaptability. The inflated skin's structural properties, such as buoyancy, volumed shape, and physical compliance, enable quadruped robots to extend their mobility to stable swimming and crawling modes. The inflated skin also offers physical protection through cushioning and backing effects, allowing robots to roll down stair‐like structures. Furthermore, the integration of tactile sensors provides the host robot with accurate and intuitive contact information, enabling increased environmental adaptability and responsive behavior. The robot can protect itself from impacts, detect and detour obstacles, and dynamically interact with its surrounding environment. Overall, the proposed approach offers a synergistic integration of soft inflatable sensing skin and tactile sensors to enhance legged robots’ maneuverability and adaptability in harsh environments. The integrated system enables robots to achieve challenging missions, extending their capabilities beyond conventional locomotive modes. The proposed approach has significant potential applications in fields such as search and rescue, surveillance, and exploration.

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Section: Discussionmentioning

confidence: 99%

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

Kim,

Lee,

Chang

et al. 2023

Advanced Intelligent Systems

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“…Unlike these devices which used cables for power transmission from the actuators to the joints of the devices, a cabledifferential mechanism used in the exoskeleton introduced by Park et al in [32] enabled loads at the hip and knee joints to be shared by the actuators as well as locating the actuators near the hip joint. Reduction of the weight and inertia of the exoskeleton was feasible by the cable-differential mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Powered Lower Limb Orthosis Using a Cable-Differential Mechanism, COWALK-Mobile 2

Park

Kim

et al. 2021

IEEE Access

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Powered lower limb orthoses have been commercially available for patients with Spinal Cord Injuries (SCI) or stroke. However, studies have shown that there are adverse effects on kinematics as well as metabolic energy of the users due to the additional mass of the orthoses to the lower limbs. Since additional metabolic energy required to use the powered orthoses is one of the reasons to avoid using them, it is important to reduce the mass and moment of inertia of the exoskeletons for longer use and better outcomes. In this study, a powered-lower-limb orthosis for stroke patients using a cable-differential mechanism, which is called COWALK-Mobile 2, was proposed. The cable-differential mechanism was utilized to transmit the actuating torques from actuators to the hip and knee joints. The cable-differential mechanism enabled the actuators to be located near the hip, which yields reduced inertia of the device, as well as the loads at the joints to be shared by the actuators, which results in smaller required actuator torque. Optimal radii of the pulleys for the cable-differential mechanism were found for efficient load-sharing during walking. Experimental results with a healthy person walking on a level surface have shown that larger joint torques were generated with smaller actuator torques. INDEX TERMS Robotic orthosis, wearable robots, exoskeleton, and differential mechanism.

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Gaussian Process Trajectory Learning and Synthesis of Individualized Gait Motions

Hong

Chun

Kim

et al. 2019

IEEE Trans. Neural Syst. Rehabil. Eng.

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A robotic orthosis with a cable-differential mechanism

Cited by 4 publications

References 10 publications

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

Design and Control of a Powered Lower Limb Orthosis Using a Cable-Differential Mechanism, COWALK-Mobile 2

Gaussian Process Trajectory Learning and Synthesis of Individualized Gait Motions

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