Name
Abstract | ||
|---|---|---|
In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user's safety. Regarding the master-slave control, the user's motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1007/978-3-319-61276-8_91 | ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS |
Keywords | DocType | Volume |
Leg exoskeletons,Pedal-actuated wheelchair,Master-slave control,Experiment | Conference | 49 |
ISSN | Citations | PageRank |
2211-0984 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gao Huang | 1 | 875 | 53.36 |
| Marco Ceccarelli | 2 | 170 | 43.95 |
| Weimin M. Zhang | 3 | 0 | 0.34 |
| Fei Meng | 4 | 113 | 14.50 |
| Tao Sun | 5 | 168 | 16.47 |
| Qiang Huang | 6 | 266 | 91.95 |