Augmenting Locomotion in an Anthropomorphic System

Journal of Systemics, Cybernetics and Informatics

Eric Kubica¹  David Wang¹  Derek Wight¹ 

[1] University of Waterloo;

关键词: Exoskeleton;    Pneumatic Muscle;    Actuator Augmentation;    Powered Orthosis;   

DOI  :  

来源: DOAJ

【 摘 要 】

A powered orthosis has applications ranging from assisting the elderly to augmenting astronauts. An assistive control scheme is developed that uses the force from a slave actuator to augment the force of a master actuator. This can be used to augment a closed-loop control scheme applied to the master actuator. Initially, actuator augmentation is explored both theoretically and experimentally using a simple mechanical system. The control scheme is then applied to a scale model of human lower limbs on a stationary bicycle to investigate the feasibility of a powered orthosis using pneumatic muscle actuators.

【 授权许可】

Unknown