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A robotic orthosis with a cable-differential mechanism

Title
A robotic orthosis with a cable-differential mechanism
Author
박종현
Keywords
Actuators; Pulleys; Legged locomotion; Torque; Hip; Knee
Issue Date
2017-05
Publisher
IEEE
Citation
2017 IEEE International Conference on Robotics and Automation (ICRA), page. 517-521
Abstract
Robotic orthoses have potential to assist people having difficulty in walking due to their neurological disorders. However, it is important to design lighter orthoses since additional weight and inertia from the device cause discomfort to the wearer and even instability during walking in some extreme cases. To address this problem, a robotic orthosis with a cable differential mechanism is proposed in this paper. It is designed to assist stroke patients with hemiplegia. It has 2 active degrees of freedom at the hip and knee joints and one passive degree of freedom at the ankle. A cable differential mechanism is used to transmit the torques generated by the actuators, which are located near the pelvis of the wearer to reduce the inertial effect. The cable differential mechanism allows for the actuators to share the load with each other, which results in decrease of the maximum required torques by the actuators. Therefore, smaller actuators are possible to be used for further reduction of the weight. The proposed robotic orthosis with a cable differential mechanism, which is called “COWALK-Mobile 2,” is implemented and evaluated.
URI
https://ieeexplore.ieee.org/document/7989065http://repository.hanyang.ac.kr/handle/20.500.11754/113941
ISBN
9781509046348; 9781509046331
DOI
10.1109/ICRA.2017.7989065
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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