Experimental verification of the effect of human lower extremity exoskeleton

Li Yang; Xu Cheng; Guan Xiaorong; Li Zhong; Li Huibin

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Experimental verification of the effect of human lower extremity exoskeleton

机译：实验验证人低端外骨骼的影响

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摘要

A human lower extremity exoskeleton (HLEE) has been designed in our previous works, in which a simulation study has also been performed. However, verifying the effect of HLEE is still a problem. Accordingly, an experimental method combining a data collection system and a human motion capture system is proposed to solve this issue. Experimental data on the moment of momentum and energy provided to the HLEE knee joint and the knee joint angle deviation between the human body and HLEE exhibit good assistance effect. Moreover, the man-machine coordination and environmental suitability of the designed HLEE experimental prototype are validated in this study.

机译：在我们之前的作品中设计了人的下肢外骨骼（Hlee），其中还进行了模拟研究。但是，验证Hlee的效果仍然是一个问题。因此，提出了一种组合数据收集系统和人类运动捕获系统的实验方法来解决这个问题。实验数据在Hlee膝关节和能量提供给Hlee膝关节和人体之间的膝关节角度偏差，并且Hlee之间的膝关节角度偏差表现出良好的辅助效果。此外，本研究验证了设计的Hlee实验原型的人机协调和环境适用性。

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来源
《Journal of Mechanical Science and Technology》 |2019年第8期|共6页
作者
Li Yang; Xu Cheng; Guan Xiaorong; Li Zhong; Li Huibin;
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作者单位

Taizhou Univ Sch Shipping &

Mechatron Engn Taizhou Peoples R China;

Nanjing Univ Sci &

Technol Sch Mech Engn Nanjing Jiangsu Peoples R China;

Nanjing Univ Sci &

Technol Sch Mech Engn Nanjing Jiangsu Peoples R China;

Nanjing Univ Sci &

Technol Sch Mech Engn Nanjing Jiangsu Peoples R China;

Nanjing Univ Sci &

Technol Sch Mech Engn Nanjing Jiangsu Peoples R China;

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原文格式 PDF
正文语种 eng
中图分类机械学（机械设计基础理论）;
关键词
Assistance effect; Environmental suitability; Experimental study; Human lower extremity exoskeleton; Man-machine coordination;

机译：援助效果;环境适用性;实验研究;人下肢外骨骼;人机协调;

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专利

1. Experimental verification of the effect of human lower extremity exoskeleton [J] . Li Yang, Xu Cheng, Guan Xiaorong, Journal of Mechanical Science and Technology . 2019,第8期

机译：实验验证人低端外骨骼的影响
2. Development of a model reference computed torque controller for a human lower extremity exoskeleton robot [J] . SK Hasan, Anoop K Dhingra Journal of Systems and Control Engineering . 2021,第9期

机译：用于人类下肢外骨骼机器人的模型参考计算扭矩控制器的开发
3. Development of human lower extremity kinematic and dynamic models for exoskeleton robot based physical therapy [J] . Hasan S. K., Dhingra Anoop International Journal of Modelling, Identification and Control . 2020,第3期

机译：基于外骨骼机器人的人体下肢运动和动态模型的发展
4. Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans [C] . Henderson Gregory C., Ueda Jun 2012 4th IEEE RAS amp; EMBS International Conference on Biomedical Robotics and Biomechatronics . 2012

机译：气动机器人外骨骼锻炼人类特定的下肢肌肉群
5. Actuation design and implementation for lower extremity human exoskeletons. [D] . Zoss, Adam Brian. 2006

机译：下肢人体骨骼的致动设计和实现。
6. A Real-Time Stability Control Method Through sEMG Interface for Lower Extremity Rehabilitation Exoskeletons [O] . Can Wang, Ziming Guo, Shengcai Duan, 2021

机译：通过SEMG接口进行实时稳定性控制方法用于下肢康复外骨骼
7. Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation [O] . Shiqiang Zhu, Xinglai Jin, Bin Yao, 2016

机译：基于人机协作的下肢外骨骼非线性滑模控制

Experimental verification of the effect of human lower extremity exoskeleton

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