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- W2621305051 abstract "In this paper, an obstacle-surmounting-enabled lower limb exoskeleton with novel linkage joints that perfectly mimicked human motions was proposed. Currently, most lower exoskeletons that use linear actuators have a direct connection between the wearer and the controlled part. Compared to the existing joints, the novel linkage joint not only fitted better into compact chasis, but also provided greater torque when the joint was at a large bend angle. As a result, it extended the angle range of joint peak torque output. With any given power, torque was prioritized over rotational speed, because instead of rotational speed, sufficiency of torque is the premise for most joint actions. With insufficient torque, the exoskeleton will be a burden instead of enhancement to its wearer. With optimized distribution of torque among the joints, the novel linkage method may contribute to easier exoskeleton movements." @default.
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- W2621305051 date "2017-07-20" @default.
- W2621305051 modified "2023-10-05" @default.
- W2621305051 title "Biomechanical design of escalading lower limb exoskeleton with novel linkage joints" @default.
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- W2621305051 doi "https://doi.org/10.3233/thc-171330" @default.
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