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Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism
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 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;
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 Abstract
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.
 Keywords
The lower limb exoskeleton;Walking intention;Interaction force;
 Language
English
 Cited by
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