Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

Adam B. Zoss; H. Kazerooni; Andrew Chu

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Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

机译：伯克利下肢外骨骼（BLEEX）的生物力学设计

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Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropo-morphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.

机译：轮式车辆通常无法在崎terrain的地形或上楼梯上运输重物。下肢外骨骼通过支撑负载的一对可穿戴机器人腿的力量和耐力来补充人类的智力。本文总结了伯克利下肢外骨骼（BLEEX）的设计和分析。基于拟人化的BLEEX每腿具有7个自由度，其中四个由线性液压执行器提供动力。讨论了DOF的选择，关键的硬件设计方面以及BLEEX的初始性能测量。

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《IEEE / ASME Transactions on Mechatronics》 |2006年第2期|p.128-138|共11页
作者
Adam B. Zoss; H. Kazerooni; Andrew Chu;
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正文语种 eng
中图分类机械设计、计算与制图;无线电电子学、电信技术;
关键词
Biomimetics; Exoskeletons; Mechatronics; Robotics;

机译：仿生;外骨骼;机电一体化;机器人;

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1. Hybrid control of the Berkeley Lower Extremity Exoskeleton (BLEEX) [J] . Kazerooni H, Steger R, Huang LH The International journal of robotics research . 2006,第5a6期

机译：伯克利下肢外骨骼（BLEEX）的混合控制
2. Biomechanical Design of a Novel Flexible Exoskeleton for Lower Extremities [J] . Younbaek Lee, Yong-Jae Kim, Jongwon Lee, IEEE / ASME Transactions on Mechatronics . 2017,第5期

机译：下肢新型柔性外骨骼的生物力学设计
3. The Berkeley Lower Extremity Exoskeleton [J] . Kazerooni H, Steger R Journal of Dynamic Systems, Measurement, and Control . 2006,第1期

机译：伯克利下肢外骨骼
4. On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) [C] . Adam Zoss, H. Kazerooni, Andrew Chu IEEE/RSJ International Conference on Intelligent Robots and Systems . 2005

机译：论伯克利下肢外骨骼（BLEEX）的机械设计
5. Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) [D] . Chu, Andrew 2005

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6. Design and intermediate results of the Lower Extremity Arterial Disease Event Reduction (LEADER)* trial of bezafibrate in men with lower extremity arterial disease ISRCTN41194621 [O] . Thomas W Meade 2001

机译：苯扎贝特治疗下肢动脉疾病的男性的下肢动脉疾病事件减少（LEADER）*试验的设计和中间结果ISRCTN41194621
7. System Identification for the Berkeley Lower Extremity Exoskeleton (BLEEX) [O] . Justin Ghan, H. Kazerooni 2015

机译：伯克利下肢外骨骼（BLEEX）的系统识别
8. Biomechanics of Pedestrian Injuries Related to Lower Extremity Injury Assessment Tools: A Review of the Literature and Analysis of Pedestrian Crash Database;Final rept [R] . Klinich, K. D., Schneider, L. W. 2003

机译：下肢损伤评估工具相关行人损伤的生物力学：行人碰撞数据库文献与分析综述;最终报告

Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

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