ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.25

Zhu, Jinying (Peking University), Wang, Qining (Peking University), Huang, Yan (Peking University), Wang, Long (Peking University)

Adding Compliant Joints and Segmented Foot to Bio-Inspired Below-Knee Exoskeleton

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Rehabilitation Robotics, Medical Robots and Systems, Biomimetics


This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and compliant joints on energetic efficiency and stability of bipedal walking. Starting from the results of theoretical analysis, we construct a below-knee exoskeleton prototype with ankle and toe joints driven by two series-elastic actuators. Experimental results validate the effectiveness of the proposed exoskeleton.



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