Prototype design, modeling, and experimental research of a novel lower limb powered exoskeleton

被引：3
|
作者：
Zhang, Lixun [1 ]
Li, Lailu [1 ]
Chen, Zhiming [2 ]
Song, Da [1 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Room 4034,Bldg 61,Nantong St 145, Harbin 150001, Heilongjiang, Peoples R China
[2] China Shipbldg Ind Corp, Res Inst 715, Hangzhou, Zhejiang, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2017年 / 231卷 / 20期
基金：
中国国家自然科学基金;
关键词：
Lower limb powered exoskeleton; screw-nut; kinematic model; dynamic model; double-closed loop;
D O I：
10.1177/0954406216654937
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a new type of lower limb powered exoskeleton is presented, which is based on a screw-nut actuated mechanism to help paraplegics to stand, walk and accomplish activities of daily living. The Denavit-Hartenberg method and the Kane method are adopted to establish a kinematic and dynamic model of novel lower limb powered exoskeleton to analyze the workspace and the control strategy simulation. A double-closed loop control strategy is proposed to ensure precision, and its effectiveness is validated. The results of prototype gait control and patient experiments show that the new type of lower limb powered exoskeleton can enable patients to realize stable and smooth walking.
引用
收藏
页码：3766 / 3779
页数：14
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