Mechanics of Solids (about journal) Mechanics of Solids
A Journal of Russian Academy of Sciences
 Founded
in January 1966
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Total articles in the database: 9198
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E.K. Lavrovskii, "On the Energetics of the Walking Gait of a Human Operator Using a Passive Exoskeleton Apparatus," Mech. Solids. 50 (1), 6-18 (2015)
Year 2015 Volume 50 Number 1 Pages 6-18
DOI 10.3103/S0025654415010021
Title On the Energetics of the Walking Gait of a Human Operator Using a Passive Exoskeleton Apparatus
Author(s) E.K. Lavrovskii (Institute of Mechanics, Lomonosov Moscow State University, Michurinskii pr. 1, Moscow, 119192 Russia, lavrov@imec.msu.ru)
Abstract We study the energy expenditures and the peak values of control torques which a human operator must apply in the process of exoskeleton displacement for various types of regular, plane, and single-support gaits. The obtained results allow us to estimate the performance of the passive exoskeleton apparatus.
Keywords passive exoskeleton, regular motion, energy expenditure, maxima of control torques
References
1.  M. Vukobratovic, V. Ciric, and D. Hristic, "Contribution to the Study of Active Exoskeletons," in Proc. of the 5th Int. Feder. of Autom. Contr. Congress (Paris, 1972).
2.  A. Zoss and H. Kazerooni, "Architecture and Hydraulics of a Lower Extremity Exoskeleton," in Proc. Int. Mech. Engineer. Congr. and Exposition (Orlando, Florida, USA, 2005).
3.  A. M. Dollar and H. Herr, "Lower Extremity Exoskeletons and Active: Challenges and Stat-of-the-Art," IEEE Trans. Robotics 24 (1), 1-15 (2008).
4.  G. Aguirre-Ollinger, J. E. Colgate, M. A. Peshkin, and A. Gooswani, "Inertial Compensation Control of a One-Degree-od-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments," IEEE Trans. Neutral Syst. Rehabilitation Engineer 20 (1), 68-77 (2012).
5.  V. V. Beletskii, "Dynamics of Biped Gait," Izv. Akad. Nauk SSSR. Mekh. Tverd. Tela, No. 3, 3-14; No. 4, 3-13 (1975) [Mech. Solids (Engl. Transl.)].
6.  V. V. Beletskii and P. S. Chudinov, "Parametric Optimization in the Biped Gait Problem," Izv. Akad. Nauk SSSR. Mekh. Tverd. Tela, No. 1, 25-35 (1977) [Mech. Solids (Engl. Transl.)].
7.  V. V. Beletskii, Biped Gait (Nauka, Moscow, 1984) [in Russian].
8.  V. V. Beletskii, Plane Linear Models of Biped Pacing, Preprint No. 95 (Inst. Prikl. Mat. Keldysha AN SSSR, Moscow, 1973) [in Russian].
9.  V. V. Beletskii and E. K. Lavrovskii, "Model Problem of Biped Gait," Izv. Akad. Nauk SSSR. Mekh. Tverd. Tela, No. 2, 156-165 (1981).
10.  A. M. Formalskii, Travel of Anthropomorphic Mechanisms (Nauka, Moscow, 1982) [in Russian].
Received 08 June 2012
Link to Fulltext http://link.springer.com/article/10.3103/S0025654415010021
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