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Verfasst von:Kopitzsch, Malin [VerfasserIn]   i
 Clever, Debora [VerfasserIn]   i
 Mombaur, Katja [VerfasserIn]   i
Titel:Optimization-based analysis of push recovery during walking motions to support the design of rigid and compliant lower limb exoskeletons
Verf.angabe:R.M. Kopitzsch, D. Clever & K. Mombaur
Umfang:15 S.
Fussnoten:Gesehen am 15.11.2018
Titel Quelle:Enthalten in: Advanced robotics
Jahr Quelle:2017
Band/Heft Quelle:31(2017), 22, S. 1238-1252
ISSN Quelle:1568-5535
Abstract:Lower limb exoskeletons provide a promising approach to allow disabled people to walk again in the future. Designing such exoskeletons and tuning the required actuators is challenging, since the full dynamics of the combined human-exoskeleton system have to be taken into account. In particular, it is important to not only consider nominal walking motions but also extreme situations such as the recovery from large perturbations. In this paper, we present an approach based on push recovery experiments while walking, multibody system models, and least-squares optimal control to analyze the required torques to be generated by the exoskeleton, assuming that the human provides no torque. We consider seven different trials with varying push locations and push magnitudes applied on the back of the subject. In a first study, we investigate the dependency of these total joint torques on the exoskeleton mass - and compare the torques required for a human without exoskeleton to the ones for the human with two different exoskeleton configurations. In a second study, we investigate how optimally chosen passive spring-damper elements can support the required torques in the exoskeleton joints. It can be shown that the active torques can be reduced significantly in the different joints and cases.
DOI:doi:10.1080/01691864.2017.1395363
URL:Bitte beachten Sie: Dies ist ein Bibliographieeintrag. Ein Volltextzugriff für Mitglieder der Universität besteht hier nur, falls für die entsprechende Zeitschrift/den entsprechenden Sammelband ein Abonnement besteht oder es sich um einen OpenAccess-Titel handelt.

Verlag: http://dx.doi.org/10.1080/01691864.2017.1395363
 Verlag: https://doi.org/10.1080/01691864.2017.1395363
 DOI: https://doi.org/10.1080/01691864.2017.1395363
Datenträger:Online-Ressource
Sprache:eng
K10plus-PPN:1583750371
Verknüpfungen:→ Zeitschrift

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