TY - GEN
T1 - Optimization design of a bionic lower limb rehabilitation robot with dynamic analysis
AU - Zhou, Libo
AU - Chen, Weihai
AU - Wang, Jianhua
AU - Liu, Jingmeng
AU - Chen, Wenjie
AU - Bai, Shaoping
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Considering that the knee joint of the human body involves both rotation and translation, a 3-RPR (Revolute pair - Prismatic pair - Revolute pair) parallel mechanism was developed to fully accommodate this. Further study indicated that several different mechanism configurations can meet the requirements of a bionic lower limb exoskeleton. Furthermore, the bionic exoskeleton is a redundant mechanism which shows different dynamics and stability characteristics in different configurations. In this paper, the dynamics and stability of the bionic rehabilitation robot in respect of patient lower limb gravity is analyzed in order to select the best configuration. The interaction force between the patient's lower limb and the exoskeleton is first estimated. Simulations by Matlab/SimMechanics software are then conducted to analyze the dynamics of the exoskeleton and to verify the exoskeleton's feasibility.
AB - Considering that the knee joint of the human body involves both rotation and translation, a 3-RPR (Revolute pair - Prismatic pair - Revolute pair) parallel mechanism was developed to fully accommodate this. Further study indicated that several different mechanism configurations can meet the requirements of a bionic lower limb exoskeleton. Furthermore, the bionic exoskeleton is a redundant mechanism which shows different dynamics and stability characteristics in different configurations. In this paper, the dynamics and stability of the bionic rehabilitation robot in respect of patient lower limb gravity is analyzed in order to select the best configuration. The interaction force between the patient's lower limb and the exoskeleton is first estimated. Simulations by Matlab/SimMechanics software are then conducted to analyze the dynamics of the exoskeleton and to verify the exoskeleton's feasibility.
KW - Bionic lower limb exoskeleton
KW - dynamics and stability
KW - interaction force
UR - https://www.scopus.com/pages/publications/85049875473
U2 - 10.1109/ROBIO.2017.8324502
DO - 10.1109/ROBIO.2017.8324502
M3 - 会议稿件
AN - SCOPUS:85049875473
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -