Design and simulation of leg exoskeleton cycling-actuated wheelchair

This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting el...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2017-11, Vol.14 (6), p.172988141774173
Main Authors: Huang, Gao, Zhang, Weimin, Yu, Zhangguo, Chen, Xuechao, Meng, Fei, Ceccarelli, Marco, Huang, Qiang
Format: Article
Language:English
Subjects:
Control systems design
Cycles
Exoskeletons
Locomotion
Muscles
Older people
Wheelchairs
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Summary:This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.
ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881417741739