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Strategy to Lock the Knee of Exoskeleton Stance Leg: Study in the Framework of Ballistic Walking Model

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New Trends in Medical and Service Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 39))

Abstract

The paper aim is to show theoretically the feasibility and efficiency of a passive exoskeleton for human carrying a load. Human is modeled using a mathematical model of a planar bipedal five-link anthropomorphic mechanism. This mechanism consists of a trunk and two identical legs; each leg consists of a thigh and shin with point-foot. The exoskeleton is considered also as a five-link anthropomorphic mechanism. The shape and the degrees of freedom of the exoskeleton are identical to biped (to human). If the biped is equipped with an exoskeleton, then the links of this exoskeleton are attached to the corresponding links of the biped and the corresponding hip-, knee-, and ankle-joints coincide. We compare the walking of a biped alone (without exoskeleton) and of a biped equipped with exoskeleton; both models are with a load. A ballistic walking gait is designed in both cases. During the ballistic walking of the biped with exoskeleton the knee of the stance leg of the exoskeleton (and as a consequence of the biped) is locked. The locking can be realized in the knee of each leg of the exoskeleton by any mechanical brake device with no energy consumption. There are not any actuators in our exoskeleton. Therefore, we call it passive exoskeleton. The walking of the biped consists of alternating single- and double-support phases. In our study, the double-support phase is assumed as instantaneous. At the instant of this phase, the knee of the previous swing leg is locked and the knee of the previous stance leg is unlocked. Numerical results show that during the load transport the human with the exoskeleton spends less energy than human alone.

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Notes

  1. 1.

    Therefore there is a permutation operation between \({\dot{\mathbf {x}}}^{a}\) and the solution of the boundary value problem to take into account the exchange of the role of both legs.

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Acknowledgments

This work is supported by Ministry of Education and Science of Russian Federation, Project No. 7.524.11.4012, and by Région des Pays de la Loire, Project LMA and Gérontopôle Autonomie Longévité des Pays de la Loire.

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Authors and Affiliations

  1. L’UNAM, Institut de Recherche en Communications et Cybernétique de Nantes, UMR 6597, CNRS, École Centrale de Nantes, Université de Nantes, 1, rue de la Noë, BP 92101, 44321, Nantes, France

    Y. Aoustin

  2. Institute of Mechanics, Lomonosov Moscow State University, 1, Michurinskii Prospect, Moscow, 119192, Russia

    A. M. Formalskii

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  1. Y. Aoustin
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  2. A. M. Formalskii
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Correspondence to Y. Aoustin .

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Editors and Affiliations

  1. Ecole Centrale de Nantes 1, Institut de Recherche en Communications, Nantes Cedex 03, France

    Philippe Wenger

  2. Ecole Centrale de Nantes 1, Inst Rec Comm Cybernetique Nantes, Nantes cedex 3, France

    Christine Chevallereau

  3. Research Center for Industrial Robo, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. IMT - LSRO1, EPFL, Lausanne, Switzerland

    Hannes Bleuler

  5. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

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Aoustin, Y., Formalskii, A.M. (2016). Strategy to Lock the Knee of Exoskeleton Stance Leg: Study in the Framework of Ballistic Walking Model. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_14

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  • DOI: https://doi.org/10.1007/978-3-319-30674-2_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30673-5

  • Online ISBN: 978-3-319-30674-2

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