Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying

Shun Ma; Jinhui Yao; Xiaolong Wei; Yanhe Zhu

doi:10.1109/IMCEC.2016.7867509

Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying

Shun Ma
, Jinhui Yao
, Xiaolong Wei
, Yanhe Zhu

School of Mechatronics Engineering

Harbin Institute of Technology
Fire Brigade in Haidian District

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic parameters. Considering the safety and comfort for the wearers, a gravity balanced system has been designed in the hip joint to supply power for movement. The critical hardware arrangement aspects and control system are summarized.

Original language	English
Title of host publication	Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016
Editors	Bing Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1705-1710
Number of pages	6
ISBN (Electronic)	9781467396127
DOIs	https://doi.org/10.1109/IMCEC.2016.7867509
State	Published - 28 Feb 2017
Event	2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016 - Xi'an, China Duration: 3 Oct 2016 → 5 Oct 2016

Publication series

Name	Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016

Conference

Conference	2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016
Country/Territory	China
City	Xi'an
Period	3/10/16 → 5/10/16

Keywords

Gravity balanced system
Lower extremity exoskeleton
Mechanism topology
Simulation Optimization

Access to Document

10.1109/IMCEC.2016.7867509

Cite this

Ma, S., Yao, J., Wei, X., & Zhu, Y. (2017). Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying. In B. Xu (Ed.), Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016 (pp. 1705-1710). Article 7867509 (Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IMCEC.2016.7867509

Ma, Shun ; Yao, Jinhui ; Wei, Xiaolong et al. / Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying. Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016. editor / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1705-1710 (Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016).

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title = "Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying",

abstract = "This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic parameters. Considering the safety and comfort for the wearers, a gravity balanced system has been designed in the hip joint to supply power for movement. The critical hardware arrangement aspects and control system are summarized.",

keywords = "Gravity balanced system, Lower extremity exoskeleton, Mechanism topology, Simulation Optimization",

author = "Shun Ma and Jinhui Yao and Xiaolong Wei and Yanhe Zhu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016 ; Conference date: 03-10-2016 Through 05-10-2016",

year = "2017",

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doi = "10.1109/IMCEC.2016.7867509",

language = "英语",

series = "Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "美国",

}

Ma, S, Yao, J, Wei, X & Zhu, Y 2017, Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying. in B Xu (ed.), Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016., 7867509, Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1705-1710, 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016, Xi'an, China, 3/10/16. https://doi.org/10.1109/IMCEC.2016.7867509

Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying. / Ma, Shun; Yao, Jinhui; Wei, Xiaolong et al.
Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016. ed. / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1705-1710 7867509 (Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ma, Shun

AU - Yao, Jinhui

AU - Wei, Xiaolong

AU - Zhu, Yanhe

PY - 2017/2/28

Y1 - 2017/2/28

N2 - This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic parameters. Considering the safety and comfort for the wearers, a gravity balanced system has been designed in the hip joint to supply power for movement. The critical hardware arrangement aspects and control system are summarized.

AB - This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic parameters. Considering the safety and comfort for the wearers, a gravity balanced system has been designed in the hip joint to supply power for movement. The critical hardware arrangement aspects and control system are summarized.

KW - Gravity balanced system

KW - Lower extremity exoskeleton

KW - Mechanism topology

KW - Simulation Optimization

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Ma S, Yao J, Wei X, Zhu Y. Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying. In Xu B, editor, Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1705-1710. 7867509. (Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016). doi: 10.1109/IMCEC.2016.7867509

Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying

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