C-JAE: 3 DOF Robotic Ankle Exoskeleton with Compatible Joint Axes

机译：C-JAE：具有兼容关节轴的3 DOF机器人脚踝外骨骼

获取原文

获取原文并翻译 | 示例

页面导航

摘要
著录项
相似文献
相关主题

摘要

This paper proposes a three degrees of freedom (DOF) robotic ankle exoskeleton with compatible joint axes, named C-JAE. The device consists of three separate units to achieve triplanar motions. The plantarflexion-dorsiflexion and inversion-eversion are externally powered, whereas internal-external rotation is passively supported. C-JAE is capable of complying with the functional and ergonomic requirements of the biological ankle joint. This is achieved by accurately mapping exoskeleton axes of rotation with the oblique axes of rotation of talocrural and subtalar joints of ankle. All mechanisms including the drive units are located anterior to shank and foot segments to carry out robotic rehabilitation and/or to provide locomotion assistance for humans having mobility disorders. Control experiments were conducted to assess aptitude of C-JAE to carry out ankle rehabilitation exercises. The results verified potential benefits of the proposed design to generate desired movement patterns of daily activities while providing power-assistance.

机译：本文提出了一种具有兼容关节轴的三自由度（DOF）机器人踝关节外骨骼，名为C-JAE。该设备由三个独立的单元组成，以实现三脚架运动。 flex屈-背屈和内翻-外翻由外部提供动力，而内-外旋转则由被动提供。 C-JAE能够满足生物踝关节的功能和人体工程学要求。这是通过准确地将外骨骼的旋转轴与踝的距骨和距骨的旋转的倾斜旋转轴映射而实现的。包括驱动单元在内的所有机构都位于小腿和脚段的前面，以进行机器人康复和/或为行动不便的人提供运动帮助。进行了对照实验，以评估C-JAE进行踝关节康复锻炼的能力。结果证实了所提出设计的潜在好处，即在提供动力辅助的同时产生所需的日常活动运动模式。

著录项

来源
《4th International Moratuwa Engineering Research Conference》|2018年|270-275|共6页
会议地点 Moratuwa(LK)
作者
A.H. Weerasingha; A.D.K.H. Pragnathilaka; W.P.K. Withanage; R.K.P.S. Ranaweera; R.A.R.C. Gopura;
展开▼
作者单位

Bionics Laboratory, University of Moratuwa, Katubedda, Sri Lanka;

Bionics Laboratory, University of Moratuwa, Katubedda, Sri Lanka;

Bionics Laboratory, University of Moratuwa, Katubedda, Sri Lanka;

Bionics Laboratory, University of Moratuwa, Katubedda, Sri Lanka;

Bionics Laboratory, University of Moratuwa, Katubedda, Sri Lanka;

展开▼
会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
Exoskeletons; Robots; Gears; Torque; Read only memory; Connectors; Biology;

机译：外骨骼;机器人;齿轮;扭矩;只读存储器;连接器;生物学;;

相似文献

外文文献
中文文献
专利

1. Joint kinetic response during unexpectedly reduced plantar flexor torque provided by a robotic ankle exoskeleton during walking. [J] . Kao PC, Lewis CL, Ferris DP Journal of Biomechanics . 2010,第7期

机译：机器人脚踝外骨骼在行走过程中意外降低的足底屈肌扭矩期间的关节动力学响应。
2. Invariant ankle moment patterns when walking with and without a robotic ankle exoskeleton. [J] . Kao PC, Lewis CL, Ferris DP Journal of Biomechanics . 2010,第2期

机译：在有或没有机器人脚踝外骨骼的情况下行走时，脚踝力矩模式不变。
3. Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton [J] . Abooee Ali, Arefi Mohammad Mehdi, Sedghi Fatemeh, International Journal of Control . 2019,第7a9期

机译：用于5-DOF机器人外骨骼的有限时间跟踪目标的鲁棒非线性控制方案
4. C-JAE: 3 DOF Robotic Ankle Exoskeleton with Compatible Joint Axes [C] . A.H. Weerasingha, A.D.K.H. Pragnathilaka, W.P.K. Withanage, International Moratuwa Engineering Research Conference . 2018

机译：C-JAE：3 DOF机器人踝关节外骨骼，带兼容的关节轴
5. Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop [D] . Yeung, Ling Fung. 2018

机译：用于机器人辅助步态训练的脑骨骼脚踝机器人患者脚下跌落
6. Joint kinetic response during unexpectedly reduced plantar flexor torque provided by a robotic ankle exoskeleton during walking [O] . Pei-Chun Kao, Cara L. Lewis, Daniel P. Ferris -1

机译：在散步期间由机器人踝外线骨骼提供的跖屈扭矩意外减少的关节动力学响应
7. Design and Analysis of a Hybrid-Driven Ankle Joint for Lower Extremity Exoskeleton Robots [O] . JIN-LIANG LI, WEI ZHENG 2019

机译：下肢外骨骼机器人混合驱动踝关节的设计与分析

C-JAE: 3 DOF Robotic Ankle Exoskeleton with Compatible Joint Axes

摘要

著录项

相似文献

相关主题

期刊订阅