Design of a cyclic robot for the lower limb

Brian P. DeJong, Ed Colgate, Michael Peshkin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents the design and simulation of a novel lower-limb exercise robot designed specifically for cyclic motions and the high power nature of lower-limb interaction. In doing so. it breaks from traditional robotics wisdom by intentionally traveling through singularities and incorporating large inertia. Such attributes help define the understudied class of lower-limb exercise robots, and lead to some explicit design considerations. Results from a simulation show that the specific design requires only a reasonably sized damper and motor.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages83-91
Number of pages9
Volume10
EditionPART A
ISBN (Print)9780791843833
DOIs
StatePublished - Jan 1 2010
EventASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009 - Lake Buena Vista, FL, United States
Duration: Nov 13 2009Nov 19 2009

Other

OtherASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009
CountryUnited States
CityLake Buena Vista, FL
Period11/13/0911/19/09

ASJC Scopus subject areas

  • Mechanical Engineering

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