检索结果-南通市图书馆

Compound Pendulum Modeling and Resonant Frequency Analysis of the Lower Limbs for the Wearer and Exoskeleton

Journal of Bionic Engineering 2015年第3期12卷 372-381页

作者： yunjie miao feng gao dalei pan State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

An innovative lower extremity exoskeleton with hybrid leg structures is proposed in this paper. The compound pendulum model is applied to analyze the swing motion during walking for the wearer and the exoskeleton respectively. The expression of the resonant period for the human lower limb is obtained and the optimum stride frequency, at which the energy expenditure for walking is the least, coincides with the stride frequency of strolling well. As for the exoskeleton, the relationship between the inertial parameters and the resonant period of the hybrid leg is established. To minimize the walking energy cost for the exoskeleton, the inertial parameter design must guarantee that the resonant period of the hybrid leg coincides with the actual stride period of the wearer. The resonant period of the hybrid leg is also influenced by the scissor angle which determines the distance between the hip and the ankle of the lower extremity exoskeleton （SJTU-EX） and can be adjusted to match different stride frequencies of various motions by the proper scissor angle planning.

关键词： compound pendulum exoskeleton inertial parameter stride frequency

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

State Classification and Motion Description for the Lower Extremity Exoskeleton SJTU-EX

引用

Journal of Bionic Engineering 2014年第2期11卷 249-258页

作者： yunjie miao feng gao dalei pan State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 P. R. China

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.

关键词： exoskeleton topological states lower limb motions dynamics GF set

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：