A PNEUMATIC HUMAN INSPIRED ROBOTIC LEG: CONTROL ARCHITECTURE AND KINEMATICAL OVERVIEW

摘要

This paper describes in detail the control architecture of an anthropometric robotic leg. It contains a brief description of the mechanical structure of the prototype and a kinematical structure overview. The aim of this project is the development of new technologies for the implementation and realization of bio-mechanical limbs for motoric gait rehabilitation, as well as for human gate study and analysis. In particular, a detailed description of the pneumatic control architecture is provided, together with some design considerations. Moreover, a platform for walking trajectory generation is presented, and some experimental results are reported. In order to assure a proper stability control during the gait, a center of pressure sensor has been specifically designed and placed onboard the robot. A detailed description on the sensor mechanism is also provided.