Name
Title | ||
|---|---|---|
Energy-efficient gait pattern generation of the powered robotic exoskeleton using DME |
Abstract | ||
|---|---|---|
In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). The exoskeleton has 3 DOF at each side, and it is possible to determine the minimum energy consumption of the joint torques under level-ground walking and stair ambulation conditions. To verify its feasibility and the effect of the proposed optimal gait pattern from the point view of the integrated system (human and exoskeleton), simulations were performed in the cases of walking on level ground and stair ascent/descent. Experiments such as on the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted, and the power consumption of the exoskeleton was assessed, with the aim of improving the efficiency of the integrated system. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IROS.2010.5649235 | IROS |
Keywords | DocType | ISSN |
medical robotics,dme,torque,level-ground walking,manipulator dynamics,power consumption,powered robotic exoskeleton,legged locomotion,energy conservation,3 dof,dynamic-manipulability ellipsoid,stair ambulation,gait analysis,energy consumption,joint torque,swing trajectory,handicapped aids,energy-efficient gait pattern generation,integrable system,human body,energy efficient,exoskeletons | Conference | 2153-0858 |
ISBN | Citations | PageRank |
978-1-4244-6674-0 | 1 | 0.39 |
References | Authors | |
2 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wansoo Kim | 1 | 3 | 1.24 |
| Seunghoon Lee | 2 | 244 | 61.57 |
| Min-Sung Kang | 3 | 26 | 4.73 |
| Jung-Soo Han | 4 | 46 | 9.66 |
| Chang-Soo Han | 5 | 34 | 14.65 |