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Research on a multimodal actuator-oriented power-assisted knee exoskeleton

Published online by Cambridge University Press:  17 August 2016

Yali Han ,
Songqing Zhu ,
Zhou Zhou ,
Yu Shi  and
Dabin Hao
Yali Han*
Affiliation:
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China. E-mails: zusongqing@126.com, 18662826611@163.com, 13512518837@163.com, hdb5151@163.com
Songqing Zhu
Affiliation:
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China. E-mails: zusongqing@126.com, 18662826611@163.com, 13512518837@163.com, hdb5151@163.com
Zhou Zhou
Affiliation:
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China. E-mails: zusongqing@126.com, 18662826611@163.com, 13512518837@163.com, hdb5151@163.com
Yu Shi
Affiliation:
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China. E-mails: zusongqing@126.com, 18662826611@163.com, 13512518837@163.com, hdb5151@163.com
Dabin Hao
Affiliation:
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China. E-mails: zusongqing@126.com, 18662826611@163.com, 13512518837@163.com, hdb5151@163.com
*
*Corresponding author. E-mail: s966237@163.com
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Summary

A multimodal actuator was proposed to achieve a more agile power-assisted exoskeleton in uncertain complex walking environments. A power-assisted knee exoskeleton prototype based on a multimodal actuator was constructed. With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4˚, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.

Keywords

Multimodal actuatorPower-assisted exoskeletonBrake blockMotion modesSeries elastic actuator
Type
Articles
Information
Robotica , Volume 35 , Issue 9 , September 2017 , pp. 1906 - 1922
Copyright
Copyright © Cambridge University Press 2016 

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