@inproceedings{a871da1718484e4397abafd6665266c5,
title = "Lower Extremity Exoskeleton for Stair Climbing Augmentation",
abstract = "This paper presents a light-weight lower extremity exoskeleton and its associated control method to augment the locomotion for climbing stairs. A compact slider crank mechanism is designed for the knee joint to offer the required torque. A spring based quasi-passive hip joint is adopted to compensate gravity force of lifting leg. A hybrid assistive control strategy is proposed to ensure the requirement and coordination of different gait phases for the exoskeleton. In standing phase, a direct gravity balancing method is used to support the body and payload. In swing phase, a force tracking control method is utilized to enhance leg mobility. Stair climbing tests show that the gravity compensation method and force-tracking controller enhance the stair climbing mobility, and demonstrate the feasibility of the designed exoskeleton and the proposed hybrid control strategy.",
keywords = "Exoskeleton, hybrid control, stair climbing",
author = "Zongwei Zhang and Yanhe Zhu and Tianjiao Zheng and Sikai Zhao and Shun Ma and Jizhuang Fan and Jie Zhao",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 ; Conference date: 18-07-2018 Through 20-07-2018",
year = "2019",
month = jan,
day = "11",
doi = "10.1109/ICARM.2018.8610718",
language = "英语",
series = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "762--768",
booktitle = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",
address = "美国",
}