DSCC 2013 Paper Abstract


Paper MoCT2.4

Tung, Wayne Yi-Wei (University of California, Berkeley), McKinley, Michael G. (University of California), Kazerooni, Homayoon (University of California at Berkeley), Pillai, Minerva Vasudevan (University of California, Berkeley), Reid, Jason I. (University of California, Berkeley)

Design of a Minimally Actuated Medical Exoskeleton with Mechanical Swing-Phase Gait Generation and Sit-Stand Assistance

Scheduled for presentation during the Invited session "Human Assistive Systems and Wearable Robots: Design and Control" (MoCT2), Monday, October 21, 2013, 17:00−17:20, Room 123

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on October 30, 2020

Keywords Service/Rehabilitation Robots, Robotics, Medical Robotics


Lower-extremity powered exoskeletons have traditionally used four to ten powered degrees of freedom to provide gait assistance for individuals with spinal cord injury (SCI). Systems with numerous high-impedance powered degrees of freedom commonly suffer from cumbersome walking dynamics and decreased utility due to added weight and increased control complexity. We propose a new approach to powered exoskeleton design that minimizes actuation and control complexity by embedding intelligence into the hardware. This paper describes a minimalistic system that uses a single motor for each exoskeleton leg in conjunction with a bio-inspired hip-knee coupling mechanism to enable users to walk, sit, and stand. Operating in concert with a custom orthotic knee joint, the exoskeleton hip joint has been designed to mimic the biarticular coupling of human leg muscles thus allowing a single actuator to power both hip and knee motions simultaneously. The implementation of this design resulted in a system that provides comparable performance to existing exoskeletons. This system has been tested on paraplegic subjects and has successfully enabled patients to stand up, sit down, and ambulate in numerous real world situations.


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