Abstract
The paper considers a two-legged model of lower limb exoskeleton with hybrid pneumatically assisted electric drive. The main objective of the workâthe study of dynamics and the motion laws of control system, realizing human stepping patterns. Exoskeleton is designed to help patients, who have lost the mobility of the lower limbs, or to work with athletes or astronauts on different stages of rehabilitation.
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Acknowledgments
This research is supported by the Russian Foundation for Basic Research. The work describes the stage of research grant 16-29â08406âofi_m. Also the reported study was funded by RFBR, according to the research projects No. 16â38â60201 mol_a_dk and No. 16â31â00491 mol_a.
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Aliseychik, A., Kolesnichenko, E., Glazunov, V., Orlov, I., Pavlovsky, V., Petrovskaya, N. (2017). Singularity Analysis of a Wall-Mounted Parallel Robot with SCARA MotionsLower Limb Exoskeleton with Hybrid Pneumaticaly Assisted Electric Drive for Neuroreabilitation. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_45
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DOI: https://doi.org/10.1007/978-3-319-44156-6_45
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