Determination of the Required Torque for Actuation of a Lower-Limb Exoskeleton during Level Walking

An exoskeleton robot system is a brand new type of human-robot cooperation system. They can be used as power augmentation system for load carrying or power assistance systems for rehabilitation purposes. Design and selection of the actuation system of the lower extremity exoskeletons is of great importance. This paper presents an accurate estimation of actuator torque and power, based on experimental results. The experimental results of subjects carrying heavy load is subtracted from the normal gait data to determine the actuation system requirements. A comprehensive interpretation of the clinical data is also represented to clarify the effect of load carrying on the moment andpower of joints.

کلیدواژه ها:

Gait Analysis ، Actuation System ، Lowerlimb exoskeleton