Kinematics Analysis and Simulation of a Robot with Lower Extremity Exoskeleton
The lower extremity exoskeleton is smart external power unit combined with the mechanical energy, which can enhance human body function. The progress, prospective and principle are introduced in brief. Based on the movement parameters of the several of jo
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Abstract The lower extremity exoskeleton is smart external power unit combined with the mechanical energy, which can enhance human body function. The progress, prospective and principle are introduced in brief. Based on the movement parameters of the several of joints of human extremity, the paper carried out the kinematics analysis and modeling the mechanical system of the lower extremity exoskeleton. Simulations of the mechanical system with MATLAB result in the motion trail in space structure. Comparing the motion with several points verifies the feasibility of the kinematical model established and the necessity of spatial motion analysis. Finally calculated the workspace and analyzed the influence of various parameters of the mechanism on the workspace. The study paves the way for the optimization design of the structure and the design and calculation of hydraulic drive system. Keywords Lower extremity exoskeleton kinematical Workspace
Assisted mechanism
Spatial
1 Introduction Exoskeleton originally referred to the hard external structure providing living creatures with protection and support [1]. The lower extremity exoskeleton assist mechanism can be understood as man-machine combination of wearable equipment combined human intelligence with robot mechanical energy [2]. This feature makes it has a good application prospect in many areas: In the military field, lower extremity exoskeleton assisting robot can help improve individual soldier’s combat capability; in civilian areas, the robot can be used for hiking, tourism, fire, disaster relief, etc.; in the medical field, the robot can be used for disabled assistance, medical rehabilitation, etc. [3]. M. Zhang (&) Y. Cai S. Bi School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China e-mail: [email protected] © Springer Nature Singapore Pte Ltd. 2017 X. Zhang et al. (eds.), Mechanism and Machine Science, Lecture Notes in Electrical Engineering 408, DOI 10.1007/978-981-10-2875-5_17
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The earliest study of exoskeleton system began in the 1960s. In 1962, the United States Air Force (USAF) required the Cornell Aeronautical Laboratory Inc. to conduct a feasibility research on the use of manpower amplifier system by using master-slave control mode. From 1960 to 1971, US General Electric Company began to develop a exoskeleton prototype based on master-slave control, called “Hardiman”, which was mainly used to relieve fatigue of the soldiers caused by long distance marching load. In 2004, University of California, Berkeley, developed the machine clothing that could make people easily carry heavy loads for long distance or heavy objects to go upstairs and downstairs—Berkeley Lower Extremity Exoskeleton (referred to as the BLEEX), the objective of the project was to develop exoskeleton that could heavily armed soldiers increase the load and improve the marching speed. The main part of BLEEX is a pair of stainless steel mechanical legs, and a small engine is equipped in the buttocks of the carriers to o
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