Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device
This article presents a wearable lower extremity exoskeleton (LEE) developed to enhance the ability of a human’s walking while carrying heavy loads. The ultimate goal of the current research work is to design and control a power assist system that integrates a human’s intellect for feedback and sens...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2006-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2006.0030 |
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| _version_ | 1832562890727489536 |
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| author | K. H. Low X. Liu H. Yu |
| author_facet | K. H. Low X. Liu H. Yu |
| author_sort | K. H. Low |
| collection | DOAJ |
| description | This article presents a wearable lower extremity exoskeleton (LEE) developed to enhance the ability of a human’s walking while carrying heavy loads. The ultimate goal of the current research work is to design and control a power assist system that integrates a human’s intellect for feedback and sensory purposes. The exoskeleton system in this work consists of an inner exoskeleton and an outer exoskeleton. The inner exoskeleton measures the movements of the wearer and provides these measurements to the outer exoskeleton, which supports the whole exoskeleton system to walk following the wearer. A special footpad, which is designed and attached to the outer exoskeleton, can measure the zero moment point (ZMP) of the human as well as that of the exoskeleton in time. Using the measured human ZMP as the reference, the exoskeleton’s ZMP is controlled by trunk compensation so that the exoskeleton can walk stably. A simulation platform has first been developed to examine the gait coordination through inner and outer exoskeletons. A commercially available software, xPC Target, together with other toolboxes from MATLAB, has then been used to provide a real-time operating system for controlling the exoskeleton. Real-time locomotion control of the exoskeleton is implemented in the developed environment. Finally, some experiments on different objects showed that the stable walking can be achieved in the real environment. |
| format | Article |
| id | doaj-art-95a8c5470bf74156b1b911d9ca03eacf |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2006-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-95a8c5470bf74156b1b911d9ca03eacf2025-02-03T01:21:28ZengWileyApplied Bionics and Biomechanics1176-23221754-21032006-01-013320922510.1533/abbi.2006.0030Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive DeviceK. H. Low0X. Liu1H. Yu2School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, SingaporeSchool of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, SingaporeDepartment of Mechanical Engineering, National University of Singapore, Singapore 119260, SingaporeThis article presents a wearable lower extremity exoskeleton (LEE) developed to enhance the ability of a human’s walking while carrying heavy loads. The ultimate goal of the current research work is to design and control a power assist system that integrates a human’s intellect for feedback and sensory purposes. The exoskeleton system in this work consists of an inner exoskeleton and an outer exoskeleton. The inner exoskeleton measures the movements of the wearer and provides these measurements to the outer exoskeleton, which supports the whole exoskeleton system to walk following the wearer. A special footpad, which is designed and attached to the outer exoskeleton, can measure the zero moment point (ZMP) of the human as well as that of the exoskeleton in time. Using the measured human ZMP as the reference, the exoskeleton’s ZMP is controlled by trunk compensation so that the exoskeleton can walk stably. A simulation platform has first been developed to examine the gait coordination through inner and outer exoskeletons. A commercially available software, xPC Target, together with other toolboxes from MATLAB, has then been used to provide a real-time operating system for controlling the exoskeleton. Real-time locomotion control of the exoskeleton is implemented in the developed environment. Finally, some experiments on different objects showed that the stable walking can be achieved in the real environment.http://dx.doi.org/10.1533/abbi.2006.0030 |
| spellingShingle | K. H. Low X. Liu H. Yu Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device Applied Bionics and Biomechanics |
| title | Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device |
| title_full | Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device |
| title_fullStr | Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device |
| title_full_unstemmed | Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device |
| title_short | Design and Implementation of NTU Wearable Exoskeleton as an Enhancement and Assistive Device |
| title_sort | design and implementation of ntu wearable exoskeleton as an enhancement and assistive device |
| url | http://dx.doi.org/10.1533/abbi.2006.0030 |
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