DOI: 10.1109/iccas.2014.6988049
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Wansoo Kim, Heedon Lee, Donghwan Kim, Jungsoo Han, Changsoo Han

Abstract: This study developed a lower extremity exoskeleton system to enhance lower body strength. In this paper, selected the degrees of freedom (DOF) which actuated based on analyzed human motion, and analyzed the human joint function to design the joint modules of the exoskeletal robot. To improve the efficiency of the exoskeleton robot, a me chanical structure was designed on the basis of a semi-anthropomorphic architecture. The Hanyang EXskeleton Assistive Robot (HEXAR) has seven degrees of freedom per leg, two o…

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