Study on Joint Driving Characteristics for Powered Exoskeleton Based on All-Joints Driving Model

DOI

10.2991/mmme-16.2016.211How to use a DOI?

Keywords

squat stance, powered exoskeleton, driving characteristic, motion characteristic

Abstract

In order to study the changing characteristics of the driving torque, the driving power and the driving energy of all joints for the powered exoskeleton in the squat stance, multi-rigid-body system dynamics model of the powered exoskeleton was established based on the somatic structure characteristics parameters in the sagittal plane. The angular displacement motion equation of the ankle, the knee and the hip were obtained through the curves fitting method according to the data analysis and multi-visual machine motion measurement experi-ment of human-body movement. Dynamics explicit equation in matrix expression form of the powered exo-skeleton multi-rigid-body system was deduced by selecting the angular displacement as generalization coordi-nates variable, and the equation of the driving power and the driving energy of all joints were established. The research shows that the amplitude of the angular displacement, angular velocity and angular acceleration of the knee is big, but that of the ankle and the hip is relatively small; the driving torque and the driving power of the knee is big and the rate of change is also very big, but those of the ankle and the hip are small; the driving energy of the knee is very big, and that of the ankle and the hip is small. Research results provide a theoretical basis for the design of the power system, the driving mode and control schemes for the powered exoskeleton.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Mingkui Zhang
AU  - Wenming Cheng
AU  - Fang Liu
AU  - Huaixian Li
PY  - 2016/10
DA  - 2016/10
TI  - Study on Joint Driving Characteristics for Powered Exoskeleton Based on All-Joints Driving Model
BT  - Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmme-16.2016.211
DO  - 10.2991/mmme-16.2016.211
ID  - Zhang2016/10
ER  -