TY - GEN
T1 - Structural design and dynamics analysis of lower extremity exoskeleton assist mechanism
AU - Zhang, Maoyu
AU - Cai, Yueri
AU - Bi, Shusheng
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - The lower extremity exoskeleton assist mechanism is designed in this essay according to the situation of improving single combatant ability in military field. This essay briefly introduces the structure and functions of the mechanism, including the technical parameters of the mechanism; structure and driving mode of hip, knee and ankle joint and foot; leg length adjustment structure, and protective measures of the joint rotation angle, etc. By analyzing the movement characteristics of human body lower extremity, based on using CGA (The Clinical Gait Analysis data) data for support, the lower extremity exoskeleton is simplified into seven bar model. The dynamics analysis of the model during different gait periods is conducted, together with simulation analysis of Adams. This provides an important theoretical basis for designing thee control system and work later.
AB - The lower extremity exoskeleton assist mechanism is designed in this essay according to the situation of improving single combatant ability in military field. This essay briefly introduces the structure and functions of the mechanism, including the technical parameters of the mechanism; structure and driving mode of hip, knee and ankle joint and foot; leg length adjustment structure, and protective measures of the joint rotation angle, etc. By analyzing the movement characteristics of human body lower extremity, based on using CGA (The Clinical Gait Analysis data) data for support, the lower extremity exoskeleton is simplified into seven bar model. The dynamics analysis of the model during different gait periods is conducted, together with simulation analysis of Adams. This provides an important theoretical basis for designing thee control system and work later.
UR - https://www.scopus.com/pages/publications/85016727802
U2 - 10.1109/ROBIO.2016.7866326
DO - 10.1109/ROBIO.2016.7866326
M3 - 会议稿件
AN - SCOPUS:85016727802
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 226
EP - 229
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -