Conceptual design of a lower limb motion assist robot with bodyweight support

Milad D. Farahani; S. Ali A. Moosavian; Payam Zarafshan

doi:10.1109/ICRoM.2014.6990877

Conceptual design of a lower limb motion assist robot with bodyweight support

Milad D. Farahani
, S. Ali A. Moosavian
, Payam Zarafshan

K.N. Toosi University of Technology
Department of Agro-Technology
University of Tehran

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

2 Citations (Scopus)

Abstract

In this paper, the concept of a new walking assist robot is proposed for helping elderlies and overweight people, as well as healthy users. Walking assistance in this robot is realized through weight support and reduction of user's Foot Reaction Force (FRF). The proposed robot has six degrees of freedom per leg that imposes no limits on human's natural gait. It has only two active joints that are prismatic and all other joints are passive. This results in reduction of power consumption for the robot. Consequently, this robot will require smaller power supplies. The special architecture of the designed robot permits its accommodation to users with different sizes and heights. Reduction of user's FRF is accomplished by applying a support force to the groin via the seat. The mechanism of robot is designed in the way that the applied support force is in the same direction of user's FRF. The validity of this matter is also discussed through the force analysis and simulation of the mechanism.

Original language	English
Title of host publication	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	59-64
Number of pages	6
ISBN (Electronic)	9781479967438
DOIs	https://doi.org/10.1109/ICRoM.2014.6990877
Publication status	Published - 2014
Externally published	Yes
Event	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 - Tehran, Iran, Islamic Republic of Duration: 15 Oct 2014 → 17 Oct 2014

Publication series

Name	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

Conference

Conference	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	15/10/14 → 17/10/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Keywords

concept design
dynamic simulation
foot reaction force reduction
force analysis
walking assist

Access to Document

10.1109/ICRoM.2014.6990877

Cite this

Farahani, M. D., Moosavian, S. A. A., & Zarafshan, P. (2014). Conceptual design of a lower limb motion assist robot with bodyweight support. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 (pp. 59-64). Article 6990877 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2014.6990877

Farahani, Milad D. ; Moosavian, S. Ali A. ; Zarafshan, Payam. / Conceptual design of a lower limb motion assist robot with bodyweight support. 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 59-64 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

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title = "Conceptual design of a lower limb motion assist robot with bodyweight support",

abstract = "In this paper, the concept of a new walking assist robot is proposed for helping elderlies and overweight people, as well as healthy users. Walking assistance in this robot is realized through weight support and reduction of user's Foot Reaction Force (FRF). The proposed robot has six degrees of freedom per leg that imposes no limits on human's natural gait. It has only two active joints that are prismatic and all other joints are passive. This results in reduction of power consumption for the robot. Consequently, this robot will require smaller power supplies. The special architecture of the designed robot permits its accommodation to users with different sizes and heights. Reduction of user's FRF is accomplished by applying a support force to the groin via the seat. The mechanism of robot is designed in the way that the applied support force is in the same direction of user's FRF. The validity of this matter is also discussed through the force analysis and simulation of the mechanism.",

keywords = "concept design, dynamic simulation, foot reaction force reduction, force analysis, walking assist",

author = "Farahani, \{Milad D.\} and Moosavian, \{S. Ali A.\} and Payam Zarafshan",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Conference date: 15-10-2014 Through 17-10-2014",

year = "2014",

doi = "10.1109/ICRoM.2014.6990877",

language = "English",

series = "2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014",

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Farahani, MD, Moosavian, SAA & Zarafshan, P 2014, Conceptual design of a lower limb motion assist robot with bodyweight support. in 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014., 6990877, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Institute of Electrical and Electronics Engineers Inc., pp. 59-64, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Tehran, Iran, Islamic Republic of, 15/10/14. https://doi.org/10.1109/ICRoM.2014.6990877

Conceptual design of a lower limb motion assist robot with bodyweight support. / Farahani, Milad D.; Moosavian, S. Ali A.; Zarafshan, Payam.
2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 59-64 6990877 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Moosavian, S. Ali A.

AU - Zarafshan, Payam

PY - 2014

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N2 - In this paper, the concept of a new walking assist robot is proposed for helping elderlies and overweight people, as well as healthy users. Walking assistance in this robot is realized through weight support and reduction of user's Foot Reaction Force (FRF). The proposed robot has six degrees of freedom per leg that imposes no limits on human's natural gait. It has only two active joints that are prismatic and all other joints are passive. This results in reduction of power consumption for the robot. Consequently, this robot will require smaller power supplies. The special architecture of the designed robot permits its accommodation to users with different sizes and heights. Reduction of user's FRF is accomplished by applying a support force to the groin via the seat. The mechanism of robot is designed in the way that the applied support force is in the same direction of user's FRF. The validity of this matter is also discussed through the force analysis and simulation of the mechanism.

AB - In this paper, the concept of a new walking assist robot is proposed for helping elderlies and overweight people, as well as healthy users. Walking assistance in this robot is realized through weight support and reduction of user's Foot Reaction Force (FRF). The proposed robot has six degrees of freedom per leg that imposes no limits on human's natural gait. It has only two active joints that are prismatic and all other joints are passive. This results in reduction of power consumption for the robot. Consequently, this robot will require smaller power supplies. The special architecture of the designed robot permits its accommodation to users with different sizes and heights. Reduction of user's FRF is accomplished by applying a support force to the groin via the seat. The mechanism of robot is designed in the way that the applied support force is in the same direction of user's FRF. The validity of this matter is also discussed through the force analysis and simulation of the mechanism.

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Farahani MD, Moosavian SAA, Zarafshan P. Conceptual design of a lower limb motion assist robot with bodyweight support. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 59-64. 6990877. (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). doi: 10.1109/ICRoM.2014.6990877

Conceptual design of a lower limb motion assist robot with bodyweight support

Abstract

Publication series

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Bibliographical note

Keywords

Access to Document

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