Authors:
Takuhiro Sunada
1
;
Goro Obinata
1
and
Yanling Pei
2
Affiliations:
1
Department of Robotic Science and Technology, Chubu University, 1200 Matsumoto-cho, Kasugai 487-8501 and Japan
;
2
Department of Electronic Control and Robot Engineering, Aichi University of Technology, 50-2 Nishihasama-cho, Gamagori 443-0047 and Japan
Keyword(s):
Assistive Robot Device, Lower Limb Orthosis, Active Control, Mechanism of Linkage, All in One.
Related
Ontology
Subjects/Areas/Topics:
Human-Machine Interfaces
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper describes a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling, and assists swinging of the leg. One servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at the soles for detecting the distance between the feet and floor. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. The system has achieved continuous walking based on the feedback signals from the sensors. This paper reveals the preliminary experim
ental results of the system to show the good points of the design.
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