期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：6
DOI：10.1177/1729881417741739
出版社：SAGE Publications
摘要：This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.
