下肢外骨骼柔顺关节机制研究进展

IF 1.4 Q4 ROBOTICS

Journal of Robotics Pub Date : 2016-08-01 DOI:10.1155/2016/5751391

G. MiguelA., lvez-Zúñiga, Alejandro Aceves-L, Pez

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引用次数: 7

摘要

下肢外骨骼正经历着快速的发展，这可能意味着它将很快进入市场。这些设备与人体有着内在的密切互动;因此，有必要确保用户的安全和舒适。最初的外骨骼设计是用简单的旋转关节来表示人体关节。这种近似引入了轴向错位问题，从而产生无法控制的内力。为了更好地理解该概念及其后果，提供了所述失调的数学描述。本次审查将只关注旨在遵守其用户的机制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

Lower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the human joints as simple revolute joints. This approximation introduces an axial misalignment issue, which generates uncontrollable internal forces. A mathematical description of the said misalignments is provided to better understand the concept and its consequences. This review will only focus on mechanisms aiming to comply with its user.

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来源期刊

Journal of Robotics ROBOTICS-

CiteScore

3.70

自引率

5.60%

发文量

审稿时长

22 weeks

期刊介绍： Journal of Robotics publishes papers on all aspects automated mechanical devices, from their design and fabrication, to their testing and practical implementation. The journal welcomes submissions from the associated fields of materials science, electrical and computer engineering, and machine learning and artificial intelligence, that contribute towards advances in the technology and understanding of robotic systems.