Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
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DOI：
10.1109/tmech.2006.871087
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发表时间：
2006-04-01
影响因子：
6.4
通讯作者：
Chu, A
中科院分区：
文献类型：
--
作者：
Zoss, AB;Kazerooni, H;Chu, A
轮式车辆通常无法在崎岖的地形上或楼梯上运输重型材料。下肢外骨骼通过一对支撑有效载荷的可穿戴机器人腿的力量和耐力来补充人类智能。本文总结了伯克利下肢外骨骼（BLEEX）的设计和分析。基于拟人的BLEEX每条腿有7个自由度，其中四个由线性液压执行器提供动力。讨论了BLEEX的自由度选择、关键硬件设计方面和初始性能测量。
Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.