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Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton

Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton

Sergey Fedorovich Jatsun, Andrey Yatsun, Sergei Savin
Copyright: © 2021 |Pages: 22
ISBN13: 9781799880509|ISBN10: 1799880508|EISBN13: 9781799881032
DOI: 10.4018/978-1-7998-8050-9.ch012
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MLA

Jatsun, Sergey Fedorovich, et al. "Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton." Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement, edited by Information Resources Management Association, IGI Global, 2021, pp. 233-254. https://doi.org/10.4018/978-1-7998-8050-9.ch012

APA

Jatsun, S. F., Yatsun, A., & Savin, S. (2021). Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton. In I. Management Association (Ed.), Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement (pp. 233-254). IGI Global. https://doi.org/10.4018/978-1-7998-8050-9.ch012

Chicago

Jatsun, Sergey Fedorovich, Andrey Yatsun, and Sergei Savin. "Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton." In Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement, edited by Information Resources Management Association, 233-254. Hershey, PA: IGI Global, 2021. https://doi.org/10.4018/978-1-7998-8050-9.ch012

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Abstract

In this chapter, the lower limb exoskeleton is studied. The roles of the exoskeleton both as a measurement device for studying human locomotion and as an assistive device that restores the human ability to walk are discussed. Particular attention is given to the investigation of the role of the pressure sensors and other devices that allow us to measure normal reactions at the contact points with the supporting surface and also detect these contacts. The way the geometry of the supporting surface affects the sensors system of the robot is considered, and new designs for feet sensor system are proposed. These include elastic foot, a foot with actuated sensors, and a foot with spring-damper systems.

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