Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Self-balancing Squatting Experiments

Sinan Coruk, Ahmed Fahmy Soliman, Oguzhan Dalgic, Mehmet C. Yildirim, Deniz Ugur, Barkan Ugurlu

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

1 Scopus citations

Abstract

In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory difficulties in general. To provide full 3-D walking support while containing the number of required actuators, it includes 4 active joints per leg. Custom-built series elastic actuators enable the torque sensing and controllability at each joint, enhancing the robot’s physical interaction capabilities. While limiting the number of active joints minimizes the weight and energy requirements, the underactuated leg configuration increased the computational load. The preliminary squatting experiments revealed that Co-Ex may provide crutch-free 3-D movement support.

Original languageEnglish
Title of host publicationBiosystems and Biorobotics
PublisherSpringer Science and Business Media Deutschland GmbH
Pages313-317
Number of pages5
DOIs
StatePublished - 2022

Publication series

NameBiosystems and Biorobotics
Volume27
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

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