下肢机器人外骨骼髋关节自由度设计与分析

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM ) Pub Date : 2019-11-01 DOI:10.1109/HNICEM48295.2019.9073479

Zimele Gwebu, Kabo Moruti, R. Jamisola

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引用次数: 0

摘要

下肢机器人外骨骼根据其所需的功能，在髋关节有一个、两个或三个自由度设计。这项工作分析了这些不同的自由度，并提出了一个合适的外骨骼设计用于辅助和增强行走。开发、比较和分析了不同自由度的有效性和使用舒适性。所有三种髋关节设计在整个外骨骼框架中，膝关节和踝关节都有一个自由度。此外，免费提供的在线外骨骼设计被分析、修改和测试。最后，进行了仿真实验和3D打印装配。

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Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton

Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.

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来源期刊

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM )

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