Abstract
An innovative lower extremity exoskeleton, SJTU-EX, is presented in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motions. This paper summarizes the mechanical design of SJTU-EX. Each pseudo- anthropomorphic leg of SJTU-EX has four active joints and two passive joints and the joint ranges are optimized in consideration of both safety factors and realizations of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints. © 2013 Springer-Verlag Berlin Heidelberg.
Author supplied keywords
Cite
CITATION STYLE
Miao, Y., Gao, F., & Pan, D. (2013). Mechanical design of a lower extremity exoskeleton with hybrid legs for power augmentation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8103 LNAI, pp. 132–142). Springer Verlag. https://doi.org/10.1007/978-3-642-40849-6_12
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
