A dual-drive four joint time-sharing control walking power-assisted flexible exoskeleton robot system. Issue 3 (10th March 2023)

• Record Type: Journal Article
• Authors: Li, Jinke; He, Yong; Sun, Jianquan; Li, Pengfei; Wu, Xinyu
• Is Part Of: Robotica. Volume 41:Issue 3(2023)
• Page Start: 821
• Page End: 832
• Publication Date: 2023-03-10
• Subjects: walking analysis -- dual-drive four joint -- time-sharing control -- flexible exoskeleton -- metabolic rate; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574722000704
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: Exoskeleton robot can assist people and reduce energy consumption when they walk with heavy weight, so as to protect their health and travel longer distances. This work analyzes the cross gait during walking and designs a dual-drive four joint time-sharing assistance exoskeleton system, which controls the four joints through two motors to realize the assistance to the wearer's movement process. The control curve and adaptive control algorithm are designed to help different people with various walking gaits and speeds, the effectiveness of exoskeleton system is proved by testing metabolism. When the exoskeleton wearer carries 25 kg weight (load equal to 36% of body mass) and travels at the average speed of 5 km/h, the metabolic rate of the exoskeleton wearers decreases by an average of 7.79%, the reduction magnitude is comparable to the effect of taking off 7.33 kg during walking.