Design of an under-actuated exoskeleton system for walking assist while load carrying
Abstract
This study proposes an under-actuated wearable exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular-type wearable system and its corresponding sensor systems are proposed. The design process of the modular-type exoskeleton for lower extremities is presented based on the considered requirements. To operate the system with the user, human walking analysis and intention signal acquisition methods for actuating the proposed system are developed. In particular, a sensing data estimation strategy is applied to synchronize the exoskeleton system with a user correctly. Finally, several experiments were performed to evaluate the performance of the proposed exoskeleton system by measuring the electromyography signal of the wearer's muscles while walking on level ground and climbing up stairs with 20- to 40-kg loads, respectively.
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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 [40]
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 [40]
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- Authors
- Yu, S. N., Lee, H. D., Lee, S. H., Kim, W. S., Han, J. S., & Han, C. S.
- Affiliations
- Korea Atomic Energy Research Institute (KR)
- Hanyang University (KR)
- Hansung University (KR)
- Venue
- Advanced Robotics
- Publisher
- Informa UK Limited
- Published
- 2012-01
- Volume
- 26
- Issue
- 5-6
- Pages
- 561-580
- ISSN
- 0169-1864 (ISSN-L)
- 1568-5535
- OpenAlex
- W2043339686
- Cited by
- 37
- References
- 18
- Citations by year
- 2026: 2 · 2025: 2 · 2024: 2 · 2023: 3 · 2022: 4 · 2021: 2 · 2020: 3 · 2019: 7 · 2018: 1 · 2016: 2 · 2015: 5 · 2014: 4
- FWCI
- 1.64
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Advanced Robotics (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 › Muscle activation and electromyography studies
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- wearable exoskeleton, load carriage, gait assistance, lower extremity, electromyography, stair climbing, heavy load
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