Abstract
The paper considers a two-legged model of lower limb exoskeleton with hybrid pneumatically assisted electric drive. The main interest of the work is dynamics and motion laws of the control system of human stepping patterns. The exoskeleton is designed to help patients with lost the mobility of the lower limbs, in particular athletes and astronauts at different stages of rehabilitation.
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Acknowledgements
The reported study was funded by RFBR, according to the research projects No. 16-38-60201 mol_a_dk and No. 16-29-08406 ofi_m.
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Orlov, I., Aliseychik, A., Kolesnichenko, E., Pavlovsky, V., Gribkov, D., Podoprosvetov, A. (2018). Lower Limb Exoskeleton with Hybrid Pneumaticaly Assisted Electric Drive: Models. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_79
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DOI: https://doi.org/10.1007/978-3-319-61276-8_79
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