@inproceedings{4421b0521ee34be2a4e98a092dffe2e9,
title = "Concept and prototype design of a soft knee exoskeleton with continuum structure (SoftKEX)",
abstract = "In this paper, we proposed a novel soft knee exoskeleton based on continuum structure. The bionic design is from the knee extension mechanism: extensor contraction stretching the patella on the gap of the femur and tibia. Concept and prototype design were presented in detail. In the continuum structure, two adjacent modules have two major degrees of freedom, which are bilateral siding and unilateral rotation. The end motion area of the continuum can meet the knee joint feature which is coupled motion with sliding and rotating between the femur and tibia. In addition, a high-power cable-driven actuator was developed to drive the exoskeleton. Tension control results indicated that the actuator can track the force quickly and accurately at fast movement. Walking experiments on two subjects wearing the proposed exoskeleton at slow, normal and fast speeds were carried out. Knee joint kinematic data show flexible and natural gait motion.",
keywords = "Cable-driven and continuum, Soft exoskeleton",
author = "Zhihao Zhou and Xiuhua Liu and Qining Wang",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27526-6\_7",
language = "英语",
isbn = "9783030275259",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "73--82",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
}