|
Yin Yuehong
Zhou Chunlin
Song Jiaren
Chen Shiyi
Han Tianpu
Zhou Chen
Research Institute of Robotics,
Shanghai Jiaotong University,
Shanghai 200030, China |
|
|
WALK-ASSISTING BALANCE
SYSTEM OF THE EXOSKELETON
ROBOT FOR DISABLED PEOPLE*
Abstract:
A novel methodology for a walk-assisting balance system of the exoskeleton robot for disabled people is presented. The experiment on the walk-assisting balance system is implemented using a mini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model is built, and its control system based on PWM is developed. The emulations in Matlab and the results of experiments prove that this methodology is effective.
Key words: Balance system Ropewalker robot Exoskeleton robot |