This paper presents two versions of a new biped-wheeled prototype developed in a reduced scale using a 3D printer. The results of this paper allow to confirm the hypothesis of feasibility of a biped exoskeleton with wheeled feet. Recent works underlined the convenience to use wheels on feet for simplifying the control of biped locomotion. The new research field of including wheels in exoskeletons has been proposed in recent works and this paper confirms the feasibility of using wheels at feet for wearable human’s supports. These results open new perspectives for the development of a real biped-wheeled platform for people without motion capabilities or with reduced mobility, increasing the sustainability in locomotion systems. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
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