Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism

Abstract

-Assistance of the operator's walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator's walking intention including step initiation with insole-type FSRs faster without using any bio-signals and precedes the operator's step with a reference torque. It not only reduces interaction forces between the operator and the UTRCEXO, but also allows the operator to walk with a load more comfortably. In this paper, we present the UTRCEXO implementing the walking assistance mechanism with interaction force reduction during walking.

Exoskeletons for Manual Handling: A Scoping Review

“…However, most notable design differences were seen based on the actuation mechanism. Some of them has rotary actuators, such as electric motors or rotary elastic elements at the joints [98], [130] while some of them has linear actuators such as hydraulic and pneumatic actuators connecting the lower limb segments [106], [131]. The contribution of the rotary actuators are to parallel support the human joints while linear actuators bypass human joints when guiding load to the ground.…”

Low-Cost Force Sensors Embedded in Physical Human–Machine Interfaces: Concept, Exemplary Realization on Upper-Body Exoskeleton, and Validation

“…In this case, evaluators can choose from a pool of applicable methods such as surveys, modeling, and simulation, or the analyses of muscular activities or movement patterns. However, the analyses of applied interaction forces in interfaces might enable a multidimensional evaluation with only one tool regarding the exoskeletal support (e.g., [14][15][16][17]), comfort (e.g., [14,18,19]), motion synchronicity (e.g., [15,20]), or movability (e.g., [21]). Additionally, and in case of being permanently embedded in the interface, the respective sensory data might be analyzed in real-time in order to detect poor system configurations and initiate system-sided adjustments [22].…”