MoonWalker, a Lower Limb Exoskeleton able to Sustain Bodyweight using a Passive Force Balancer

Sébastien Krut 1 Michel Benoit 2 Etienne Dombre 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents MoonWalker, a lower limb exoskeleton able to sustain part of a user's bodyweight. This orthosis can be used for rehabilitation, to help people having weak legs, or to help those suffering from a broken leg, to walk. It can also be used as an assistive device helping people carrying heavy loads. Its main characteristic is that a passive force balancer provides the force to sustain bodyweight. An actuator is also required, but is used only to shift that force the same side as the leg in stance. Consequently, MoonWalker requires very low energy to work on flat terrains. That motor can provide also a part of the energy to climb stairs or slopes. We believe that this approach can help improving energetic autonomy of lower limb exoskeletons.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. pp.2215-2220, 2010, 〈10.1109/ROBOT.2010.5509961〉
Liste complète des métadonnées

Littérature citée [10 références]  Voir  Masquer  Télécharger
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00493759
Contributeur : Martine Peridier <>
Soumis le : lundi 21 juin 2010 - 11:58:22
Dernière modification le : jeudi 24 mai 2018 - 15:59:21
Document(s) archivé(s) le : mercredi 22 septembre 2010 - 18:02:57

Fichier

2010_krut_icra.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

Citation

Sébastien Krut, Michel Benoit, Etienne Dombre, François Pierrot. MoonWalker, a Lower Limb Exoskeleton able to Sustain Bodyweight using a Passive Force Balancer. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. pp.2215-2220, 2010, 〈10.1109/ROBOT.2010.5509961〉. 〈lirmm-00493759〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

208

Téléchargements de fichiers

807

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD