Design and Analysis of a Lower Limb Loadbearing Exoskeleton

被引：5
|
作者：
Su, Qiying [1 ]
Pei, Zhongcai [1 ]
Tang, Zhiyong [1 ]
Liang, Quan [2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Shenyang Univ Technol, Sch Mech Engn, Shenyang 110870, Peoples R China
来源：
ACTUATORS | 2022年 / 11卷 / 10期
关键词：
musculoskeletal model; dynamic modelling; lower limb loadbearing exoskeleton; structure design; finite element analysis; simulation; experiment;
D O I：
10.3390/act11100285
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle-bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskeleton with the purpose of loadbearing is designed. The exoskeleton is driven by four hydraulic cylinders to the hip and knee joints whose design load is 50 kg. The kinematic and dynamic model of the exoskeleton designed in this paper is established and analyzed, and it is simulated. Finally, the experiments were carried out on the exoskeleton test platform to verify that the stability, bearing capacity, tracking effect and durability of the exoskeleton can meet the requirements.
引用
收藏
页数：25
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