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首页> 外文会议>International Workshop on Medical and Service Robots >Strategy to Lock the Knee of Exoskeleton Stance Leg: Study in the Framework of Ballistic Walking Model
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Strategy to Lock the Knee of Exoskeleton Stance Leg: Study in the Framework of Ballistic Walking Model

机译：锁定外骨骼姿态膝盖的策略：在弹道步行模型框架中的研究

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The paper aim is to show theoretically the feasibility and efficiency of a passive exoskeleton for human carrying a load. Human is modeled using a mathematical model of a planar bipedal five-link anthropomorphic mechanism. This mechanism consists of a trunk and two identical legs; each leg consists of a thigh and shin with point-foot. The exoskeleton is considered also as a five-link anthropomorphic mechanism. The shape and the degrees of freedom of the exoskeleton are identical to biped (to human). If the biped is equipped with an exoskeleton, then the links of this exoskeleton are attached to the corresponding links of the biped and the corresponding hip-, knee-, and ankle-joints coincide. We compare the walking of a biped alone (without exoskeleton) and of a biped equipped with exoskeleton; both models are with a load. A ballistic walking gait is designed in both cases. During the ballistic walking of the biped with exoskeleton the knee of the stance leg of the exoskeleton (and as a consequence of the biped) is locked. The locking can be realized in the knee of each leg of the exoskeleton by any mechanical brake device with no energy consumption. There are not any actuators in our exoskeleton. Therefore, we call it passive exoskeleton. The walking of the biped consists of alternating single- and double-support phases. In our study, the double-support phase is assumed as instantaneous. At the instant of this phase, the knee of the previous swing leg is locked and the knee of the previous stance leg is unlocked. Numerical results show that during the load transport the human with the exoskeleton spends less energy than human alone.
机译：本文的目的是理论上表现出用于人类负荷的被动外骨骼的可行性和效率。人类使用平面双向五连续拟人机制的数学模型进行建模。这种机制包括一个后备箱和两个相同的腿;每条腿由大腿和胫骨组成。外骨骼也被认为是一种五连杆拟人核机制。外骨骼的形状和自由度与Biped（对人）相同。如果搭配配备有外骨骼，则该外骨骼的链接附着在搭配和相应的臀部，膝关节和踝关节的相应链接上。我们可以比较单独的搭配（没有外骨骼）和配备外骨骼的双链;两种型号都有一个负载。在这两种情况下都设计了弹道行走步态。在用外骨骼的肌肉行走中的突出伴骨架的行走期间，锁定了外骨骼的姿势腿的膝关节（并且由于Biped的结果）被锁定。锁定可以通过任何机械制动装置在外骨骼的每个腿的膝盖中实现，没有能量消耗。我们的外骨骼中没有任何致动器。因此，我们称之为被动的外骨骼。搭配的行走包括交替的单个和双支撑阶段。在我们的研究中，双支撑阶段被认为是瞬间的。在此阶段的瞬间，先前的挥杆腿的膝盖被锁定，并解锁了以前的姿态腿的膝关节。数值结果表明，在负载运输过程中，人类的人类少于人类的能量。

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