Design and Control of a Lower Limb Exoskeleton （下肢外骨骼的设计和控制）.pdfVIP

Design and Control of the Lower Limb Exoskeleton KIT-EXO-1 Jonas Beil, Gernot Perner and Tamim Asfour Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology, Karlsruhe, Germany Abstract— We present a new lower limb exoskeleton with series elastic actuators for augmentation of human performance and for rehabilitation of the musculoskeletal system. The KIT-EXO-1 consists of 3 DOF, linear series elastic actuators with progressive helical springs which change the spring stiff- ness over spring deflection and a force-based interface to the human body. We describe the design actuator and its sensor system. In addition, we describe a force sensor system for capturing interaction forces between the exoskeleton and the human body. We present a force-based control approach, which allows the generation of motion pattern based on interaction force pattern between the exoskeleton and the human body. Our first experimental results demonstrate the performance of the new linear series elastic actuator and provide a proof of concept for the force-based control approach. I. INTRODUCTION In recent years, extensive research efforts have been ded- icated to the area of exoskeletons for augmenting human performance in daily and working environments, assisting Fig. 1. The KIT exoskeleton consists of two active DOFs in the knee and the motion of people with physical limitations by providing the ankle. CAD design (left) and first prototype (right) robotic-centered technologies and methodologies in the area of rehabilitation. Stationary systems like the Lokomat [1], the LOPES [2] or the ALEX [3] are used in