State Classification and Motion Description for the Lower Extremity Exoskeleton SJTU-EX
State Classification and Motion Description for the Lower Extremity Exoskeleton SJTU-EX作者机构：State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 P. R. China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2014年第11卷第2期
页 面：249-258页
核心收录：
学科分类：040106[教育学-高等教育学] 0401[教育学-教育学] 04[教育学] 07[理学] 070104[理学-应用数学] 0701[理学-数学]
基 金：the National Basic Research Program of China (973 Program
主 题：exoskeleton topological states lower limb motions dynamics GF set
摘 要：A lower extremity exoskeleton, SJTU-EX, is proposed, which mainly aims to help soldiers and workers to support a payload in motions. To solve the issues of the exoskeleton-environment and exoskeleton-human interactions, four types of foot contact are proposed based on their different kinematic characteristics. By the combination of single leg states, sixteen exo- skeleton states are presented using a series of meaningful notations from the topological point of view. The generalized function set （GF set） theory is employed to achieve the kinematic characteristics of the end effectors in different states. Moreover six mathematical formulations of the dynamics of the exoskeleton and its interactions with the human wearer are developed for different exoskeleton states. The applicability and potential of the proposed classification method are demonstrated by analyzing common lower limb motions, which are described concisely by a sequence of notations. Finally, a new concept of characteristic state is put forward to uniquely indicate the type of motion.
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