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Design and control of an exoskeleton for the elderly and patients
Abstract
Recently, the exoskeletal power assistive equipment, which is a kind of wearable robot, has been widely developed to help human body motion. The exoskeleton for elderly people and patients, however, has some limitations due to the weight and volume of the equipment. In this paper, a tendon-driven exoskeletal power assistive device, exoskeleton for patients and the old by the Sogang University (EXPOS), is proposed as a feasible solution. In case of EXPOS, the caster walker carries heavy items such as motors, drivers, controllers, and batteries so that the weight and volume of the wearable exoskeleton are minimized. The tendon-connecting motors and pulleys of hip and knee generate the assistive power according to the requirement of the users. In this paper, the design concepts of the EXPOS, sensing techniques, and control methods are discussed
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Cited by
Control strategies for active lower extremity prosthetics and orthotics: a review
Tucker, M. R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., Millán, J. D. R., Riener, R., Vallery, H., & Gassert, R. (2015) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-12-1 · Cited by 1,047
“rolled on a cart [72] or carried by a second person) or is carried by the user himself in a way that may be impractical as a product, yet informative for research purposes.”
Kong, K., Bae, J., & Tomizuka, M. (2009) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2008.2004561 · Cited by 426
Self-citationDynamic movement primitives in robotics: A tutorial survey
Saveriano, M., Abu-Dakka, F. J., Kramberger, A., & Peternel, L. (2023) · The International Journal of Robotics Research · doi:10.1177/02783649231201196 · Cited by 267
(2008) · doi:10.1109/aim.2008.4601855 · Cited by 15
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Metadata
- Authors
- Kong, K., & Jeon, D.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2006-08
- Volume
- 11
- Issue
- 4
- Pages
- 428-432
- ISSN
- 1083-4435 (ISSN-L)
- OpenAlex
- W2108965296
- Cited by
- 403
- References
- 0
- FWCI
- 6.58
- Type
- journal article
- Language
- en
- Open access
- closed
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