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Electric Human Powerd Extenders (Legs)  Each leg has four serial degrees of freedom, and, in this case, three
additional "false" degrees of freedom are used in the interface
between the operator and the machine. Similar to the those of the
arm, the upper three leg joints are powered. To avoid the need of
a long "foot" to support torque at the "ankle"
of the machine, there are no actuators below the knee; the final degree
of freedom for the leg is the rolling contact that occurs between
the ankle and the ground. At the ankle, rotary and linear bearings
provide degrees of freedom which are intended to isolate a foot pedal
to which the operator's foot is connected through a bicycle cleat.
This cleat further allows for rotary motion of the foot from side
to side. A three-axis force sensor is mounted in between the foot
pedal and the ankle bearing assembly. The links used in the arms and
legs have been constructed from a carbon-composite material formed
around a structural foam core. Aluminum inserts bonded to the composite
links are used to connect each link end to its corresponding actuator.
The links are curved so as to avoid interference with the operator
and the rest of the machine. Pictures
Movies: legs.avi |
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