Articles | Volume 8, issue 2
https://doi.org/10.5194/ms-8-249-2017
https://doi.org/10.5194/ms-8-249-2017
Research article
 | 
14 Aug 2017
Research article |  | 14 Aug 2017

Development of a lower extremity wearable exoskeleton with double compact elastic module: preliminary experiments

Yi Long, Zhi-jiang Du, Chao-feng Chen, Wei-dong Wang, and Wei Dong

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Cited articles

Accoto, D., Carpino, G., and Sergi, F.: Design and characterization of a novel high-power series elastic actuator for a lower limb robotic orthosis, Int. J. Adv. Robot. Sys., 10, 1–10, 2013.
Arumugom, S., Muthuraman, S., and Ponselvan, V.: Modeling and application of series elastic actuators for force control multi legged robots, J. Comput., 1, 26–33, 2009.
Del-Ama, A. J., Moreno, J. C., and Gil-Agudo, A.: Online Assessment of Human-Robot Interaction for Hybrid Control of Walking, Sensors, 12, 215–225, 2012.
Dollar, A. M. and Herr, H.: Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art, IEEE T. Robot., 24, 144–158, 2008.
Donati, M., Vitiello, N., and De Rossi, S. M. M.: A flexible sensor technology for the distributed measurement of interaction pressure, Sensors, 13, 1021–1045, 2013.
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Short summary
Compared to the traditional pHRI measurement approaches, the proposed method arranged the sensors in the mechanical joint instead of the connection cuff. This kind of architecture has compact architecture and improves the wearing comfort, which can adapt to various operators and is convenient to be applied in the wearable exoskeleton. The performance of the DEM will be studied in the following work and human-exoskeleton coordination control strategies will be investigated in future work.