1. The Berkeley Lower Extremity Exoskeleton.
- Author
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Kazerooni, H. and Steger, R.
- Subjects
- *
TECHNOLOGICAL innovations , *MECHANICAL engineering , *ARCHITECTURE & technology , *ROBOT control systems , *ENGINEERING design , *MECHANICAL movements - Abstract
The article features the Berkely Lower Extremity Exoskeleton, the first functional load-carrying exoskeleton. It can walk at the average speed of 1.3 mls while lifting a 34 kg load. The 4 basic technologies related with the exoskeleton: the architecture design, control schemes, the body local area network, and the series of on-board power units were tackled. An overview of one of the control schemes is also given with the analysis that extends the definition of a system's sensitivity function.
- Published
- 2006
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