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.
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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, ⟨10.1109/ROBOT.2010.5509961⟩. ⟨lirmm-00493759⟩

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