动力下外骨骼机器人建模与步态生成

2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA) Pub Date : 2017-06-01 DOI:10.1109/ICIEA.2017.8283131

Zhaoqin Peng, Guowei Ma, Maidan Luo

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引用次数: 1

摘要

外骨骼机器人系统是一种可穿戴的机械装置，可以增强佩戴者在各种情况下的能力，具有提高人类生活质量的潜力。本文对一个下外骨骼系统进行了建模，并进行了正运动学和逆运动学分析。另一方面，我们讨论了步态的生成，并利用零力矩点理论分析了步态的稳定性。最后通过仿真验证了所提模型和步态生成算法的有效性。

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Modeling and gait generation of powered lower exoskeleton robot

Exoskeleton robot system is a wearable mechanical device that enhances the power of wearer in various situations, and it has potential to improve human quality of life. In paper a lower exoskeleton system is modeled, and the forward and inverse kinematic are analyzed. On the other hand, we discuss the gait generating and use the zero moment point (ZMP) theory to analyze stability. At last, simulations are carried out to validate the proposed model and gait generating algorithm.

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2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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