SoftGait: compliant walking assistance via pneumatically actuated robot legs

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To assist the mobility handicapped, it is necessary to support their body weight in part using an assistive device. Since the human leg can be modelled by a spring during the gait, the assistive device (or robot) should have a certain level of compliance in order to achieve natural gait assistance. A pneumatic cylinder is added in parallel to a leg (which is also a spring) for antigravity with compliance. By simulation, the compliant gravity assistance effectively reduces the required forces and torques at the joints of leg. Using this idea, a prototype of an assistive robot named SoftGait is developed and experiments are performed to verify its efficacy.
Publisher
INST ENGINEERING TECHNOLOGY-IET
Issue Date
2013-09
Language
English
Article Type
Article
Citation

ELECTRONICS LETTERS, v.49, no.19, pp.1208 - 1209

ISSN
0013-5194
DOI
10.1049/el.2013.2155
URI
http://hdl.handle.net/10203/188755
Appears in Collection
ME-Journal Papers(저널논문)
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