【摘 要】
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Dear editor,rnStair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb weakness.In this study, we describe a
【机 构】
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State Key Laboratory of Robotics and Systems, Harbin 150080, China
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Dear editor,rnStair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb weakness.In this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-kneed people to climb stairs and help workers to carry heavy loads up stairs (Figure 1(a)).The exoskeleton has a hybrid control method that enables different performances in the stance phase and the swing phase.A switching controller guarantees the stability of the transition.Evaluations have showed that the exoskeleton can produce the torque required for stairclimbing.
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