Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
IEEE/ASME Transactions on MechatronicsPublished 1 April 2006
Adam Zoss, H. Kazerooni, Andrew Chu
Citations1,149
SJR quartileQ1
SJR score2.24
SNIP2.40
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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
Engineering
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