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New Sustainable Biped-Wheeled Exoskeleton Prototypes

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Proceedings of I4SDG Workshop 2021 (I4SDG 2021)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 108))

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Abstract

This paper presents two versions of a new biped-wheeled prototype developed in a reduced scale using a 3D printer. The results of this paper allow to confirm the hypothesis of feasibility of a biped exoskeleton with wheeled feet. Recent works underlined the convenience to use wheels on feet for simplifying the control of biped locomotion. The new research field of including wheels in exoskeletons has been proposed in recent works and this paper confirms the feasibility of using wheels at feet for wearable human’s supports. These results open new perspectives for the development of a real biped-wheeled platform for people without motion capabilities or with reduced mobility, increasing the sustainability in locomotion systems.

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Author information

Authors and Affiliations

  1. Politecnico di Torino, Turin, Italy

    Alessandro Loschi & Alessandro Smerchinich

  2. Department of Computer Science, University of Verona, Verona, Italy

    Giovanni Gerardo Muscolo

Authors
  1. Alessandro Loschi
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  2. Alessandro Smerchinich
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  3. Giovanni Gerardo Muscolo
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Corresponding author

Correspondence to Giovanni Gerardo Muscolo .

Editor information

Editors and Affiliations

  1. DIMEAS, Politecnico di Torino, Torino, Italy

    Giuseppe Quaglia

  2. UniversitĂ  degli Studi di Udine, Udine, Italy

    Alessandro Gasparetto

  3. Department of Mechanical Engineering, University of the Basque Country, Bilbao, Spain

    Victor Petuya

  4. DIMEG, University of Calabria, Rende, Italy

    Giuseppe Carbone

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Loschi, A., Smerchinich, A., Muscolo, G.G. (2022). New Sustainable Biped-Wheeled Exoskeleton Prototypes. In: Quaglia, G., Gasparetto, A., Petuya, V., Carbone, G. (eds) Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science, vol 108. Springer, Cham. https://doi.org/10.1007/978-3-030-87383-7_17

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