Design of hybrid drive exoskeleton robot XoR2

The paper reports on a novel hybrid drive lower-extremity exoskeleton research platform, XoR2, an improved version of XoR. Its design concept, details of the new hardware and basic experimental results are presented. The robot is designed so that it does not interfere with the user's normal wal...

Full description

Saved in:
Bibliographic Details
Main Authors: Sang-Ho Hyon, Hayashi, Takuya, Yagi, Atsutoshi, Noda, Tomoyuki, Morimoto, Jun
Format: Conference Proceeding
Language:English
Subjects:
Exoskeletons
Force
Joints
Robot sensing systems
Torque
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The paper reports on a novel hybrid drive lower-extremity exoskeleton research platform, XoR2, an improved version of XoR. Its design concept, details of the new hardware and basic experimental results are presented. The robot is designed so that it does not interfere with the user's normal walking and supports a 30-kg payload in addition to its own weight of 20 kg. The robot has a total of 14 joints; among them six flexion/extension joints are powered. Pneumatic artificial muscles are combined with small high-response servo motors for the hip and knee joints, and arranged antagonistically at the hip and ankle joints to provide passive stability and variable stiffness. The preliminary experimental results on position and torque control demonstrate that the proposed mechanisms, sensors and control systems are effective, and hybrid drive is promising for torque-controllable, high-speed, backdrivable, mobile (but non-power-autonomous) exoskeleton robots.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6697024