TY - GEN
T1 - Mechanical design of a paraplegic-oriented assistive exoskeleton combined with wheelchair
AU - Li, Mo
AU - Hua, Yuxiang
AU - Zhang, Guoan
AU - Zha, Jie
AU - Zhu, Yanhe
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper deals with the mechanical design of a novel assistive exoskeleton for the paraplegic and the elderly. In order to reduce the inconvenience that traditional devices have in long distance travel, this paper developed a deformable exoskeleton which merges the exoskeleton and the wheelchair. What have been taken into consideration include the characteristics of human joints, DOF configuration, actuator characteristics and human-machine interaction. Then according to these factors, this paper introduced the deformation principle based on the four-bar linkage and designed the hip and knee joint structures. Finally, this paper analyzed the stability of the deformation process with CoG judgement, proved the feasibility and introduced an adjustment method to improve the stability margin to avoid the risk of turnover when facing slopes.
AB - This paper deals with the mechanical design of a novel assistive exoskeleton for the paraplegic and the elderly. In order to reduce the inconvenience that traditional devices have in long distance travel, this paper developed a deformable exoskeleton which merges the exoskeleton and the wheelchair. What have been taken into consideration include the characteristics of human joints, DOF configuration, actuator characteristics and human-machine interaction. Then according to these factors, this paper introduced the deformation principle based on the four-bar linkage and designed the hip and knee joint structures. Finally, this paper analyzed the stability of the deformation process with CoG judgement, proved the feasibility and introduced an adjustment method to improve the stability margin to avoid the risk of turnover when facing slopes.
UR - https://www.scopus.com/pages/publications/85074295276
U2 - 10.1109/AIM.2019.8868823
DO - 10.1109/AIM.2019.8868823
M3 - 会议稿件
AN - SCOPUS:85074295276
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1485
EP - 1490
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -