Walking assist device with bodyweight support system

Ikeuchi, Yasushi; Ashihara, Jun; Hiki, Y.; Kudoh, Hiroshi; Noda, Tatsuya

doi:10.1109/iros.2009.5354543

Cited by 96 publications

(45 citation statements)

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“…Inertia moments are defined with respect to the hip-joint for the trunk and thighs and to the knee-joint for the shins. The parameters are based on the wearable assist device Honda [40].…”

Section: Physical Parameters Of the Biped And Exoskeletonmentioning

confidence: 99%

Walking of biped with passive exoskeleton: evaluation of energy consumption

Aoustin

Formalskii

2017

Multibody Syst Dyn

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The paper aim is to show theoretically the feasibility and efficiency of a passive exoskeleton for human walking and carrying a load. Human is modeled using a planar bipedal anthropomorphic mechanism. This mechanism consists of a trunk and two identical legs; each leg consists of a thigh, shin, and foot (massless). The exoskeleton is considered also as an anthropomorphic mechanism. The shape and the degrees of freedom of the exoskeleton are identical to the biped (to human) -the topology of the exoskeleton is the same as of the biped (human). Each of models of human and of exoskeleton has seven links and six joints. The hip-joint connects the trunk and two thighs of the two legs. If the biped is equipped with an exoskeleton, then the links of this exoskeleton are attached to the corresponding links of the biped and the corresponding hip-, knee-, and ankle-joints coincide. We compare the walking gaits of a biped alone (without exoskeleton) and of a biped equipped with exoskeleton; for both cases the same load is transported. The problem is studied in the framework of ballistic walking model. During the ballistic walking of the biped with exoskeleton the knee of the support leg is locked, but the knee of the swing leg is unlocked. The locking and unlocking can be realized in the knees of the exoskeleton by any mechanical brake devices without energy consumption. There are not any actuators in the exoskeleton. Therefore, we call it passive exoskeleton. The walking of the biped consists of alternating single-and double-support phases. In our study, the double-support phase is assumed as instantaneous. At the instant of this phase, the knee of the previous swing leg is locked and the knee of the previous support leg is unlocked. Numerical results show that during the load transport the human with the exoskeleton spends less energy than human alone. For transportation of a load with mass 40 kg, the economy of the energy is approximately 28%, if the length of the step and its duration are equal to 2 0.5 m and 0.5 s respectively.

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“…Inertia moments are defined with respect to the hip-joint for the trunk and thighs and to the knee-joint for the shins. The parameters are based on the wearable assist device Honda [40].…”

Section: Physical Parameters Of the Biped And Exoskeletonmentioning

confidence: 99%

Walking of biped with passive exoskeleton: evaluation of energy consumption

Aoustin

Formalskii

2017

Multibody Syst Dyn

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“…System [1], 아일랜드에서 개발된 PAM-AID [2], 미국 Canegie Mellon 대학에서 개발한 Robotic Walker [3], 혼다 사에서 개발된 Walking Assist Device [4]등이 있다. 이들 보행보조기는 크게 휠 구동형 보행보조기와 다리 장착형 보 행보조기로 구분지을 수 있다.…”

Section: 서 론unclassified

A Study on the Control Algorithm for Active Walking Aids by Using Torque Estimation

Kong¹,

Lee²,

Lee³

et al. 2010

Journal of Korean Institute of Intelligent Systems

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This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.

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“…A good example is Honda BW support system [6] which uses two actuators to reduce ground reaction force.…”

Section: Introductionmentioning

confidence: 99%

Design of a Passive Gait-Based Lower-Extremity-Exoskeleton for Supporting Bodyweight

Lee

Wang

2015

Intelligent Robotics and Applications

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Abstract. This paper presents the design of a bodyweight-supporting lowerextremity-exoskeleton (LEE) with compliant joints to relieve compressive load in human knees during walking. Based on experimental measurements that relate plantar forces with gait phase, the design of a gait-based LEE is divided into BW-supporting and free-swinging and realized by means of built-in compliant mechanisms in its exoskeleton-knees. Design considerations to accommodate human knee geometry and adapt walking gaits are highlighted. The snap-fit mechanisms for human gait-based operations are illustrated and analyzed numerically. The effects of several different exoskeleton-knee designs on reducing plantar force are experimentally compared validating the effectiveness and light-weight advantages of LEE in reducing plantar force in walking.

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Walking assist device with bodyweight support system

Cited by 96 publications

References 0 publications

Walking of biped with passive exoskeleton: evaluation of energy consumption

Walking of biped with passive exoskeleton: evaluation of energy consumption

A Study on the Control Algorithm for Active Walking Aids by Using Torque Estimation

Design of a Passive Gait-Based Lower-Extremity-Exoskeleton for Supporting Bodyweight

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