Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data
For patients with lower limb dyskinesia，the combination of robotic systems and biomedical systems has brought good news to patients. The analysis of human gait law through medical perspective can better develop and drive robotic systems. Therefore， based on the idea of importing human motion data as...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.020 |
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| _version_ | 1841548822704029696 |
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| author | Hailong Du Ningning Hu |
| author_facet | Hailong Du Ningning Hu |
| author_sort | Hailong Du |
| collection | DOAJ |
| description | For patients with lower limb dyskinesia，the combination of robotic systems and biomedical systems has brought good news to patients. The analysis of human gait law through medical perspective can better develop and drive robotic systems. Therefore， based on the idea of importing human motion data as a reference trajectory into the robot system，the human lower limb motion data and plantar force data are collected experimentally through 3D infrared motion capture system and 3D force measuring platform system. The algorithm is used to filter and fit the collected data. By establishing the link model of the lower limb exoskeleton robot，the rotation angle and torque curve of the hip joint and knee joint are deduced and calculated based on experiment data based on experim ent data，an adaptive controller is designed based on Matlab，and effectiveness of kinematics and dynamics analysis based on experimental data is verified，which provides data support and theoretical basis for the motor selection and control system design of the lower limb exoskeleton robot. |
| format | Article |
| id | doaj-art-4aa3273515c24a05866f3dbc39270a75 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-4aa3273515c24a05866f3dbc39270a752025-01-10T13:59:03ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-03-014612813430478600Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion DataHailong DuNingning HuFor patients with lower limb dyskinesia，the combination of robotic systems and biomedical systems has brought good news to patients. The analysis of human gait law through medical perspective can better develop and drive robotic systems. Therefore， based on the idea of importing human motion data as a reference trajectory into the robot system，the human lower limb motion data and plantar force data are collected experimentally through 3D infrared motion capture system and 3D force measuring platform system. The algorithm is used to filter and fit the collected data. By establishing the link model of the lower limb exoskeleton robot，the rotation angle and torque curve of the hip joint and knee joint are deduced and calculated based on experiment data based on experim ent data，an adaptive controller is designed based on Matlab，and effectiveness of kinematics and dynamics analysis based on experimental data is verified，which provides data support and theoretical basis for the motor selection and control system design of the lower limb exoskeleton robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.020Exoskeleton robotKinematicsDynamicsMoment |
| spellingShingle | Hailong Du Ningning Hu Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data Jixie chuandong Exoskeleton robot Kinematics Dynamics Moment |
| title | Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data |
| title_full | Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data |
| title_fullStr | Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data |
| title_full_unstemmed | Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data |
| title_short | Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data |
| title_sort | kinematics and dynamics analysis of lower limb robot based on human motion data |
| topic | Exoskeleton robot Kinematics Dynamics Moment |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.020 |
| work_keys_str_mv | AT hailongdu kinematicsanddynamicsanalysisoflowerlimbrobotbasedonhumanmotiondata AT ningninghu kinematicsanddynamicsanalysisoflowerlimbrobotbasedonhumanmotiondata |