 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
|
| In English (Mech. Solids): | | 4810 |
|
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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 |
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