Design of a cyclic robot for the lower limb

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

doi:10.1115/IMECE2009-10625

Design of a cyclic robot for the lower limb

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

Engineering & Technology, School Of

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	83-91
Number of pages	9
Edition	PART A
ISBN (Print)	9780791843833
DOIs	https://doi.org/10.1115/IMECE2009-10625
State	Published - 2010
Event	ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009 - Lake Buena Vista, FL, United States Duration: Nov 13 2009 → Nov 19 2009

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings
Number	PART A
Volume	10

Conference

Conference	ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009
Country/Territory	United States
City	Lake Buena Vista, FL
Period	11/13/09 → 11/19/09

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10.1115/IMECE2009-10625

Cite this

DeJong, B. P., Edward Colgate, J., & Peshkin, M. A. (2010). Design of a cyclic robot for the lower limb. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009 (PART A ed., pp. 83-91). (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 10, No. PART A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2009-10625

DeJong, Brian P. ; Edward Colgate, J. ; Peshkin, Michael A. / Design of a cyclic robot for the lower limb. Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. PART A. ed. American Society of Mechanical Engineers (ASME), 2010. pp. 83-91 (ASME International Mechanical Engineering Congress and Exposition, Proceedings; PART A).

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title = "Design of a cyclic robot for the lower limb",

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.",

author = "DeJong, {Brian P.} and {Edward Colgate}, J. and Peshkin, {Michael A.}",

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DeJong, BP, Edward Colgate, J & Peshkin, MA 2010, Design of a cyclic robot for the lower limb. in Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. PART A edn, ASME International Mechanical Engineering Congress and Exposition, Proceedings, no. PART A, vol. 10, American Society of Mechanical Engineers (ASME), pp. 83-91, ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009, Lake Buena Vista, FL, United States, 11/13/09. https://doi.org/10.1115/IMECE2009-10625

Design of a cyclic robot for the lower limb. / DeJong, Brian P.; Edward Colgate, J.; Peshkin, Michael A.

Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. PART A. ed. American Society of Mechanical Engineers (ASME), 2010. p. 83-91 (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 10, No. PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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DeJong BP, Edward Colgate J, Peshkin MA. Design of a cyclic robot for the lower limb. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. PART A ed. American Society of Mechanical Engineers (ASME). 2010. p. 83-91. (ASME International Mechanical Engineering Congress and Exposition, Proceedings; PART A). https://doi.org/10.1115/IMECE2009-10625

Design of a cyclic robot for the lower limb

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