Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation

被引：7
|
作者：
Miao, Yunjie [1 ,2 ]
Gao, Feng [1 ,2 ]
Pan, Dalei [1 ,2 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200030, Peoples R China
[2] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200030, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2015年 / 229卷 / 01期
关键词：
Exoskeleton; hybrid leg; scissor mechanism; size optimization; kinematic influence coefficient; SYSTEM;
D O I：
10.1177/0954406214532078
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances.
引用
收藏
页码：155 / 167
页数：13
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