Master Project/Thesis - A Cable-pulley Underactuated Principle-based Lower Limb Exoskeleton
Fully-actuated exoskeletons are usually bulky and require strong power supply, while passive exoskeletons only provide limited power assistance. To achieve both a small number of actuators and good assisting performance, we proposed a cable-pulley underactuated principle-based lower limb exoskeleton in which a single cable is able to actuate the hip joint and the knee joint simultaneously. A control strategy using admittance control and the synergies of torque and power assistance was developed.
Exoskeleton Design:
A Cable-pulley Underactuated Principle-based Lower Limb Exoskeleton.
Simulation:
The load-carrying walking simulation with exoskeleton.
Controller Design:
Schematic illustrating the control framework.
Exoskeleton System Integration:
Lower-limb exoskeleton hardware (including mechanical structure, sensing systems and embedded control systems).
independently.
Experimental Tests:
Experimental Tests.