PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying
The exoskeleton robots to assist load-carrying have received much attention in recent years. However, their load capacity and comfort are still insufficient. In this paper, we have developed a novel parallel actuated lower limb exoskeleton(PALExo), that addresses these problems. The novelty is that...
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doaj-cb8fea94578a4df9b1a511b814e76e242021-03-30T03:18:35ZengIEEEIEEE Access2169-35362020-01-018672506726210.1109/ACCESS.2020.29863579058710PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load CarryingTianshuo Wang0https://orcid.org/0000-0002-3272-8851Yanhe Zhu1https://orcid.org/0000-0002-1960-6278Tianjiao Zheng2Dongbao Sui3Sikai Zhao4Jie Zhao5https://orcid.org/0000-0002-6086-9387State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaThe exoskeleton robots to assist load-carrying have received much attention in recent years. However, their load capacity and comfort are still insufficient. In this paper, we have developed a novel parallel actuated lower limb exoskeleton(PALExo), that addresses these problems. The novelty is that each limb of the exoskeleton is a 2-SPU underactuated parallel mechanism. Owing to the innovative series elastic module (SEM) with multi-segment stiffness, PALExo is compliant and comfortable for the wearer. The high load characteristic of the parallel structure increases the exoskeleton load capacity, and it can accommodate wearers of different heights without manual adjustment. A dynamic model of the exoskeleton was established, and in order to increase the robustness of the system, we designed a force control method based on sliding mode control and disturbance observer. Finally, the rationality and load-bearing effect of the exoskeleton were verified through a series of experiments including swing following, squatting and walking with loads.https://ieeexplore.ieee.org/document/9058710/Lower limb exoskeletonparallel structuresliding mode controldisturbance observer |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Tianshuo Wang Yanhe Zhu Tianjiao Zheng Dongbao Sui Sikai Zhao Jie Zhao |
spellingShingle |
Tianshuo Wang Yanhe Zhu Tianjiao Zheng Dongbao Sui Sikai Zhao Jie Zhao PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying IEEE Access Lower limb exoskeleton parallel structure sliding mode control disturbance observer |
author_facet |
Tianshuo Wang Yanhe Zhu Tianjiao Zheng Dongbao Sui Sikai Zhao Jie Zhao |
author_sort |
Tianshuo Wang |
title |
PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying |
title_short |
PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying |
title_full |
PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying |
title_fullStr |
PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying |
title_full_unstemmed |
PALExo: A Parallel Actuated Lower Limb Exoskeleton for High-Load Carrying |
title_sort |
palexo: a parallel actuated lower limb exoskeleton for high-load carrying |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
The exoskeleton robots to assist load-carrying have received much attention in recent years. However, their load capacity and comfort are still insufficient. In this paper, we have developed a novel parallel actuated lower limb exoskeleton(PALExo), that addresses these problems. The novelty is that each limb of the exoskeleton is a 2-SPU underactuated parallel mechanism. Owing to the innovative series elastic module (SEM) with multi-segment stiffness, PALExo is compliant and comfortable for the wearer. The high load characteristic of the parallel structure increases the exoskeleton load capacity, and it can accommodate wearers of different heights without manual adjustment. A dynamic model of the exoskeleton was established, and in order to increase the robustness of the system, we designed a force control method based on sliding mode control and disturbance observer. Finally, the rationality and load-bearing effect of the exoskeleton were verified through a series of experiments including swing following, squatting and walking with loads. |
topic |
Lower limb exoskeleton parallel structure sliding mode control disturbance observer |
url |
https://ieeexplore.ieee.org/document/9058710/ |
work_keys_str_mv |
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1724183686861029376 |