{"title":"模拟一个可穿戴的下半身外骨骼装置，用于扭矩和功率估计","authors":"Z. Aftab, Asad Ali","doi":"10.1109/HUMANOIDS.2017.8246906","DOIUrl":null,"url":null,"abstract":"The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"119 4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Simulating a wearable lower-body exoskeleton device for torque and power estimation\",\"authors\":\"Z. Aftab, Asad Ali\",\"doi\":\"10.1109/HUMANOIDS.2017.8246906\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.\",\"PeriodicalId\":143992,\"journal\":{\"name\":\"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)\",\"volume\":\"119 4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HUMANOIDS.2017.8246906\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246906","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simulating a wearable lower-body exoskeleton device for torque and power estimation
The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.
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