Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)

  title={Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)},
  author={A. B. Zoss and Homayoon Kazerooni and Alphonse Chu},
  journal={IEEE/ASME Transactions on Mechatronics},
Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF… CONTINUE READING
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