机械与电子Issue(10)：71-75,5.
外骨骼机器人系统中人体下肢关节力矩动态解算
Dynamic Solution of the Lower Extremity Joint Torques in Man machine System of Lower Extremity Exoskeleton
郭伟 1杨丛为 1邓静 1查富生1
作者信息
- 1. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001
- 折叠
摘要
Abstract
The method uses joint displacement sensors and inertial navigation unit on lower ex-tremity exoskeleton to collect human motion infor-mation.Gets the relative angle of hip,knee and the posture and acceleration of torso.With inverse dy-namics real time calculating the joint driving torque of the wearers.In the procedure,with the 5 bar human model the kinematics and dynamics of human limb’s movement were analyzed.By Mat-lab /Simulink programming to obtain the curve of the joint torque of human lower limb joints in suc-cessive gait cycle.In order to prove the Correct-ness of the result,compare the joint torque of sup-porting leg ankle solved by lagrange dynamics e-quations with the ankle torque which was calculat-ed by the plantar force measured during the experi-ment,the feasibility of the solving method was proved.Exoskeleton robot assiste the wearer with the torques information.关键词
下肢外骨骼/关节力矩/动力学/Mat-lab/SimulinkKey words
lower extremity exoskeleton/joints torque/dynamics/Matlab/Simulink分类
信息技术与安全科学引用本文复制引用
郭伟,杨丛为,邓静,查富生..外骨骼机器人系统中人体下肢关节力矩动态解算[J].机械与电子,2015,(10):71-75,5.
