Design of a cyclic robot for the lower limb

Brian P. DeJong, J. Edward Colgate, Michael A. Peshkin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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
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
EditionPART A
ISBN (Print)9780791843833
DOIs
StatePublished - 2010
EventASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009 - Lake Buena Vista, FL, United States
Duration: Nov 13 2009Nov 19 2009

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings
NumberPART A
Volume10

Conference

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

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