Biomechanical Design of a Novel Flexible Exoskeleton for Lower Extremities
This paper presents a novel wearable walking assistance device for the elderly to provide physical gait assistance. The wearable device, to be worn invisibly underneath clothes, not only fits tightly to the wearer's lower body, but also comfortably transmits assistive torque to the wearer'...
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| Published in | IEEE/ASME transactions on mechatronics Vol. 22; no. 5; pp. 2058 - 2069 |
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| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.10.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1083-4435 1941-014X |
| DOI | 10.1109/TMECH.2017.2718999 |
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| Abstract | This paper presents a novel wearable walking assistance device for the elderly to provide physical gait assistance. The wearable device, to be worn invisibly underneath clothes, not only fits tightly to the wearer's lower body, but also comfortably transmits assistive torque to the wearer's hip/knee joint. To overcome deficiencies in the usability of conventional wearable walking assistance devices, two novel features are proposed: 1) a unique flexible support frame that withstands vertical loads while maintaining the natural curvature of the wearer's lower body; and 2) a kinematically similar anthropomorphic joint that minimizes the unintended resistance force during the wearer's usual motions. The developed wearable walking assistance device based on these features was verified by simulations and experiments whose results are described. |
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| AbstractList | This paper presents a novel wearable walking assistance device for the elderly to provide physical gait assistance. The wearable device, to be worn invisibly underneath clothes, not only fits tightly to the wearer's lower body, but also comfortably transmits assistive torque to the wearer's hip/knee joint. To overcome deficiencies in the usability of conventional wearable walking assistance devices, two novel features are proposed: 1) a unique flexible support frame that withstands vertical loads while maintaining the natural curvature of the wearer's lower body; and 2) a kinematically similar anthropomorphic joint that minimizes the unintended resistance force during the wearer's usual motions. The developed wearable walking assistance device based on these features was verified by simulations and experiments whose results are described. |
| Author | Younbaek Lee Byungjune Choi Yong-Jae Kim Jongwon Lee Jungyun Choi Minhyung Lee Jeonghun Kim Young Jin Park |
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| SubjectTerms | Biomechanical engineering Biomechanics Curvature Exoskeleton Exoskeletons Gait Hip IEEE transactions Knee Legged locomotion Mechatronics Older people robotics Torque Vertical loads Walking walking assistance device Wearable technology |
| Title | Biomechanical Design of a Novel Flexible Exoskeleton for Lower Extremities |
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