Advanced SearchSearch Tips
Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism
Cha, Dowan; Oh, Sung Nam; Lee, Hee Hwan; Kim, Kyung-Soo; Kim, Kab Il; Kim, Soohyun;
  PDF(new window)
Assistance of the operator’s walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator’s walking intention including step initiation with insole-type FSRs faster without using any bio-signals and precedes the operator’s step with a reference torque. It not only reduces interaction forces between the operator and the UTRCEXO, but also allows the operator to walk with a load more comfortably. In this paper, we present the UTRCEXO implementing the walking assistance mechanism with interaction force reduction during walking.
The lower limb exoskeleton;Walking intention;Interaction force;
 Cited by
A. M. Dollar, and H. Herr, “Lower Extremity Exoskeletonsand Active Orthoses; Challenges and State-of-the-Art,” IEEE Transaction on ROBOTICS, 24 (1), pp. 144-158, 2008. crossref(new window)

J. L. Pons, “Wearable Robots: Biomechatronics exoskeletons,” Wiley, pp. 165-198, 2008.

H. Kazerooni, “Human power extender: an example of human-machine interaction via the transfer of power and information signal,” in Proc. Int. Workshop on Advanced Motion Control, pp. 565-572, 1998.

J. C. Moreno, E. Rocon, A. Ruiz, F. Brunetti, and J. L. Pons, “Design and implementation of an inertial measurement unit for control of artificial limbs: application on leg orthoses,” Sensors and Actuators B, 118 (1-2, pp. 333-337), 2006. crossref(new window)

A. M. Dollar, and H. Herr, “Active orthoses for the Lower-Limbs: Challenges and State-of-the-Art,” in Proc. Conf. Rehab. Robot, pp. 968-977, 2007.

H. Kazerooni, J. -L. Racine, H. Lihua, and R. Steger, “On the control of the Berkeley Lower Extremity Exoskeleton (BLEEX),” in Proc. IEEE Int. Conf. Robot, pp. 4353-4360, 2005.

P. Neuhaus, and H. Kazerooni, “Industrial-Strength Human-Assisted Walking Robots,” IEEE ROBOT AUTOM MAG, 8(4), pp. 18-25), 2001. crossref(new window)

S. Mohammed, Y. Amirat, and H. Rifai, “Lower limb movement assistance through wearable robots: State of the Art and Challenges,” Adv. Robotics26, pp. 1-22, 2012. crossref(new window)

D. Cha, S. N. Oh, K. I. Kim, K.-S. Kim and S. Kim, “Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis,” Journal of Mechanical Science and Technology, To be published.

T. Kawabata, H. Satoh and Y. Sankai, “Working posture control of robot suit HAL for reducing structural stress,” in Proc. Int. Conf. on Robotics and Biomimetics, pp. 2013-2018, 2009.

K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa and Y. Sankai, “Intention-based walking support for paraplegia patients with robot suit HAL,” Adv. Robotics 21, pp. 1441-1469, 2007.

A. Tsukahara, R, Kawanish, Y. Hasegawa and Y. Sankai, “Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit HAL, Adv. Robotics 24, pp. 1615-1638, 2010. crossref(new window)

J. E. Pratt, B. T. Krupp, C. J. Morse, and S. H. Collins, “The RoboKnee: An Exoskeleton for Enhancing Strength and En-durance During Walking,” in Proc. IEEE Int. Conf. Robot, pp. 2430-2435, 2004.

R. Jimenez-Fabian, and O. Verlinden, “Review of control algorithm for robotic ankle systems in lower limb orthoses, prostheses,” Medical Engineering & Amp; Physics, 2011.

A. B. Zoss, H. Kazerooni, and A. Chu, “Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX),” IEEE Trans. Mechatronics, 11(2), pp. 128-139), 2006. crossref(new window)

A. Chu, A. B. Zoss, and H. Kazerooni, “On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX),” in Proc. IEEE Int. Conf. Robot, pp. 4345-4352, 2005.

J. Ghan, R. Steger, and H. Kazwerooni, “Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX),” Adv. Robotics 20, pp. 989-1014, 2006. crossref(new window)

H. Herr, “Exoskeletons and Orthoses: Classification, Design Challenges and Future Directions,” J. Neuroeng Rehabil. Vol. 6, 2009.

K. Kong, and D. Jeon, “Design and control of an exoskeleton for the elderly and patients,” IEEE/ASME Trans. Mechatron, 11, pp. 428-432, 2006. crossref(new window)

E. Alberto, T. Mukul, P. Andrew, and S. Michael, “The ReWalk Powered Exoskeleton to Restore Ambulatory Function to Individuals with ThoracicLevel Motor-Complete Spinal Cord Injury,” American journal of physical medicine & rehabilitation, vol. 91, pp. 911-921, 2012 crossref(new window)

Gancet J, Ilzkovitz M, Cheron G, Ivanenko Y, van der Kooij H, van der Helm F, Zanow F, Thorsteinsson F. Mindwalker, “A brain controlled lower limbs exoskeleton for rehabilitation. Potential applications to space.” 11th Symposium on Advanced Space Technologies in Robotics and Automation, 2011.

L. Ren, R. K. Jones, and D. Howard, Whole body inverse dynamics over a complete gait cycle based only on measured kinematics, Journal of Biomechanics, 41 (12, pp. 2750-2759), 2008. crossref(new window)

D. Cha, H. T. Seo, S. N. Oh, K. I. Kim, K. –S, Kim, and S. Kim, “Verification of the peak time approach for detection of step initiation using the UTRCEXO,” International journal of control, automations and systems, 12(5), pp. 1070-1076, 2014. crossref(new window)

D. Cha,S. N. Oh, K. I. Kim, K. –S. Kim, and S. Kim, “Implementation of the precedence walking assistance mechanism in an exoskeleton with only vertical ground reaction forces,” Electron Lett, 50(3), pp. 146-148, 2014. crossref(new window)

D. Cha, D. Kang, K. I. Kim, K. –S. Kim, B. Lee, and S. Kim, “Faster detection of step initiation for the lower limb exoskeleton with vertical GRF events,” Journal of Electrical Engineering and Technologies, 9(2), pp. 733-738, 2014. crossref(new window)

J. Jung, I. Jang, R. Riener, and H. Park, “Walking intention detection algorithm for paraplegic patients using a robotic exoskeleton walking assistant with crutches,” International journal of control, automation, and systems, pp. 954-962, 2012.

K. Lukas, M. Sanaz, and S. Harmut, “Decentralized evolution of robotic behavior using finite state machine,” International journal of intelligent computing cybernetics, pp. 1-33, 2009.