Structural Design and Dynamics Analysis of Lower Extremity Exoskeleton Assist Mechanism

被引：0
|
作者：
Zhang Maoyu
Cai Yueri
Bi Shusheng
机构：
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年
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D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
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页码：226 / 229
页数：4
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