Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
Top Cited Papers
- 10 April 2006
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 11 (2), 128-138
- https://doi.org/10.1109/tmech.2006.871087
Abstract
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 anthropomorphically 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.Keywords
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