Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom
In order to offset load torque,many weight- bearing lower extremity exoskeleton install gas spring in the hips which make the human walk abnormally in single leg support phase due to the disappearance of the rotation junction. To solve this problem,aiming at the exoskeleton robot " ELEbot"...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.008 |
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| author | Chen Zhiqing Cao Heng Zhu Jun Lü Rongan |
| author_facet | Chen Zhiqing Cao Heng Zhu Jun Lü Rongan |
| author_sort | Chen Zhiqing |
| collection | DOAJ |
| description | In order to offset load torque,many weight- bearing lower extremity exoskeleton install gas spring in the hips which make the human walk abnormally in single leg support phase due to the disappearance of the rotation junction. To solve this problem,aiming at the exoskeleton robot " ELEbot" designed by east China University of Science and Technology,by using the screw theory,the " ELEbot" degrees of freedom and constraints in the single leg support phase are calculated and determined and then an improved mechanism to meet demand for degrees of freedom in this posture is put forward and the rationality of the drive configuration is verified. Through ADAMS software,the simulation analysis of the building model is carried out,This simulation come to the conclusion that the simulation result is consistent with the theoretical calculation,the feasibility of the optimization mechanism is proved. |
| format | Article |
| id | doaj-art-a2581d4320164c218d9231bb4aa0ea0e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a2581d4320164c218d9231bb4aa0ea0e2025-01-10T14:16:48ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140384129925107Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of FreedomChen ZhiqingCao HengZhu JunLü RonganIn order to offset load torque,many weight- bearing lower extremity exoskeleton install gas spring in the hips which make the human walk abnormally in single leg support phase due to the disappearance of the rotation junction. To solve this problem,aiming at the exoskeleton robot " ELEbot" designed by east China University of Science and Technology,by using the screw theory,the " ELEbot" degrees of freedom and constraints in the single leg support phase are calculated and determined and then an improved mechanism to meet demand for degrees of freedom in this posture is put forward and the rationality of the drive configuration is verified. Through ADAMS software,the simulation analysis of the building model is carried out,This simulation come to the conclusion that the simulation result is consistent with the theoretical calculation,the feasibility of the optimization mechanism is proved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.008Weight-bearing exoskeletonScrew theoryDOF analysisAdams |
| spellingShingle | Chen Zhiqing Cao Heng Zhu Jun Lü Rongan Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom Jixie chuandong Weight-bearing exoskeleton Screw theory DOF analysis Adams |
| title | Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom |
| title_full | Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom |
| title_fullStr | Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom |
| title_full_unstemmed | Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom |
| title_short | Mechanism Optimization of Weight-Bearing Lower Extremity Exoskeleton based on Analysis of Multi Degree of Freedom |
| title_sort | mechanism optimization of weight bearing lower extremity exoskeleton based on analysis of multi degree of freedom |
| topic | Weight-bearing exoskeleton Screw theory DOF analysis Adams |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.008 |
| work_keys_str_mv | AT chenzhiqing mechanismoptimizationofweightbearinglowerextremityexoskeletonbasedonanalysisofmultidegreeoffreedom AT caoheng mechanismoptimizationofweightbearinglowerextremityexoskeletonbasedonanalysisofmultidegreeoffreedom AT zhujun mechanismoptimizationofweightbearinglowerextremityexoskeletonbasedonanalysisofmultidegreeoffreedom AT lurongan mechanismoptimizationofweightbearinglowerextremityexoskeletonbasedonanalysisofmultidegreeoffreedom |