Design of a Front-enveloping Powered Exoskeleton Considering Optimal Distribution of Actuating Torques and Center of Mass
Jeongsu Park,Kyeongsu Shi,Gunhee Lee,Hyojun An,Seunghwan Kim,Chanyoung Ko,Taeyeon Kim,Hyeongjun Kim,Kyoungchul Kong,Jeongsu Park,Kyeongsu Shi,Gunhee Lee,Hyojun An,Seunghwan Kim,Chanyoung Ko,Taeyeon Kim,Hyeongjun Kim,Kyoungchul Kong
Traditionally, powered exoskeletons have predominantly featured a back-enveloping design due to its simplicity in both implementation and user donning. However, this design results in a backward shift of the center of mass (CoM) in the sagittal plane. This paper identifies the limitations of existing design approaches and determines the optimal anterior-posterior (A/P) CoM position considering fac...
