Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation

A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances.

[1]  Adam Zoss,et al.  On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[2]  Jerry E. Pratt,et al.  Development of the IHMC Mobility Assist Exoskeleton , 2009, 2009 IEEE International Conference on Robotics and Automation.

[3]  Adam Zoss,et al.  On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Homayoon Kazerooni,et al.  The Berkeley Lower Extremity Exoskeleton , 2006 .

[5]  S. Schermer.  Human Osteology , 2004 .

[6]  Atsuo Takanishi,et al.  Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle , 2010, ISRR.

[7]  Yijian Zhang,et al.  A Review of exoskeleton-type systems and their key technologies , 2008 .

[8]  Jackrit Suthakorn,et al.  Design and implementation of a new motorized-mechanical exoskeleton based on CGA Patternized Control , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[9]  Zhen Huang,et al.  Kinematic influence coefficient method of kinematic and dynamic analysis , 1990 .

[10]  D. C. H. Yang,et al.  On the Dexterity of Robotic Manipulators—Service Angle , 1985 .

[11]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[12]  Delbert Tesar,et al.  The Generalized Coordinate Selection for the Dynamics of Complex Planar Mechanical Systems , 1980 .

[13]  Jian Sun,et al.  WPAL for Enhancing Human Strength and Endurance during Walking , 2007, 2007 International Conference on Information Acquisition.

[14]  K.H. Low,et al.  Development and preliminary study of the NTU lower extremity exoskeleton , 2004, IEEE Conference on Cybernetics and Intelligent Systems, 2004..

[15]  W. T. Dempster,et al.  Properties of body segments based on size and weight , 1967 .

[16]  H. Kawamoto,et al.  Power assist method for HAL-3 using EMG-based feedback controller , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[17]  Chang-Soo Han,et al.  The technical trend of the exoskeleton robot system for human power assistance , 2012 .

[18]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit , 2003 .

[19]  Jerry E. Pratt,et al.  The RoboKnee: an exoskeleton for enhancing strength and endurance during walking , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[20]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit : Miniaturization of Supply System to Realize Wearable Suit( Advances in Motion and Vibration Control Technology) , 2003 .

[21]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .