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In this paper, we focus on a 6-DOF parallel mechanism which is for human hip joint power assist. Different from the conventional power assist system, the proposed human hip joint assisting mechanism is formed as parallel mechanism. Considering the anatomical mechanism of human hip joint, the 6-DOF assisting system consists of three serial chains, and each chain is a UPS model, so the parallel mechanism...
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint...
In this paper, we intend to introduce a concept of power assist system-walking power assist leg (WPAL), which is designed for human power augmentation. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated....
In the paper, a multi-sensors perceptual system is proposed for a wearable power assist leg(WPAL) which is designed for the elderly or disabled people to enhance strength and endurance during walking. WPAL estimates the wearer's intentions from the interactive movement information of human- WPAL system such as the leg reaction force (LRF), the ground reaction force(GRF) and the joint angle. So, the...
In this paper, we intend to introduce a concept of power assist walking support system and a fundamental strategy of walking support using human-robot interaction force information. The work presented is developing a mechanism, which is in physical contact with the human body, with goal of decreasing human inner force/increasing human strength during a certain activities or for special groups, such...
In this paper, we analyse a power assist system for leg which is in physical contact with the mechanism, with the goal of reducing human effort to do the task. The work presented is developing a mechanism worn by humans to increase human strength during activities of daily life. There are several problems in this project. First, the structure problem is studied using ergonomics. Second, robot must...
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