Architecture and Hydraulics of a Lower Extremity Exoskeleton-Reference-Cited by-同舟云学术

Architecture and Hydraulics of a Lower Extremity Exoskeleton

Published:2005-01-01 Issue: Volume: Page:
ISSN:
Container-title:Dynamic Systems and Control, Parts A and B
language:
Short-container-title:

Author:

Zoss Adam¹,Kazerooni H.¹

Affiliation:

1. University of California at Berkeley

Abstract

Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.

Publisher

ASMEDC

Link

http://asmedigitalcollection.asme.org/IMECE/proceedings-pdf/doi/10.1115/IMECE2005-80129/2634098/1447_1.pdf

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