Mechanical design of the Hanyang Exoskeleton Assistive Robot(HEXAR)
Abstract
This study developed a lower extremity exoskeleton system to enhance lower body strength. In this paper, selected the degrees of freedom (DOF) which actuated based on analyzed human motion, and analyzed the human joint function to design the joint modules of the exoskeletal robot. To improve the efficiency of the exoskeleton robot, a mechanical structure was designed on the basis of a semi-anthropomorphic architecture. The Hanyang EXskeleton Assistive Robot (HEXAR) has seven degrees of freedom per leg, two of which are powered by an electrical motor. Appropriately sized motors and gearing are selected, and put through a thorough power analysis. quasi-passive mechanisms were designed with compliance material for supporting the weight of external loads in the stance phase and absorbing/releasing the energy. This paper discusses design criteria considered in mechanical design for HEXAR.
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The wearer of HEXAR can walk at a speed of 1.5 km/h with a loaded 40 kg weight.
“The wearer can walk at a speed of 1.5 km/h with a loaded 40 kg weight.”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [41]
HEXAR is an underactuated wearable exoskeleton system developed to help individuals carry heavy loads.
“It is an underactuated wearable exoskeleton system developed to help individuals carry heavy loads.”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [41]
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- Authors
- Kim, W., Lee, H., Kim, D., Han, J., & Han, C.
- Affiliations
- Hanyang University (KR)
- ORCID
- Kim, Wansoo
- Venue
- 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)
- Publisher
- IEEE
- Published
- 2014-10
- Pages
- 479-484
- OpenAlex
- W2312756180
- Cited by
- 47
- References
- 12
- Citations by year
- 2026: 3 · 2025: 2 · 2024: 2 · 2023: 2 · 2022: 7 · 2021: 3 · 2020: 6 · 2019: 8 · 2018: 3 · 2017: 5 · 2016: 3 · 2015: 3
- FWCI
- 7.12
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- International Conference on Control, Automation and Systems (ICCAS) (publishedVersion)
- The Royal Society of Chemistry’s Journals, Books and Databases (The Royal Society of Chemistry) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Keywords
- lower limb exoskeleton, assistive robots, mechanical design, degrees of freedom, joint modules, power analysis, stance phase
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