Structure Design and Dynamic Model Analysis of Multi-degree-of-freedom Exoskeleton
- DOI
- 10.2991/meic-15.2015.342How to use a DOI?
- Keywords
- lower limb exoskeleton; rehabilitation; structure; current; experiment
- Abstract
1.Objective: This study aims to propose the changing of the joint force during walking cycle based on the multi-degree-of-freedom exoskeleton. 2.Methods: The dynamic model of the joint structure is built up and the force situation is gotten when it is working. Then the electric currents are obtained by DSPACE semi-physical simulation system during walking cycle which are divided into three groups. Group 1 is the exoskeleton robot walking with nothing; group 2 is the exoskeleton robot walking with 10kg loads which 5kg loads are on the thigh and another 5kg are on the shank; group 3 is that it was dressed by patient. 3. Results: The vale of motors electric current is within the limitation range and has a little bit huge wave. 4. Conclusion: The motor force can drive the exoskeleton robot and the driven scheme, which is used in rehabilitation treatment, is achievable and available.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yang Wang AU - Yiyong Yang AU - Weifeng Liu AU - Rencheng Wang PY - 2015/04 DA - 2015/04 TI - Structure Design and Dynamic Model Analysis of Multi-degree-of-freedom Exoskeleton BT - Proceedings of the 2015 International Conference on Mechatronics, Electronic, Industrial and Control Engineering PB - Atlantis Press SP - 1493 EP - 1496 SN - 2352-5401 UR - https://doi.org/10.2991/meic-15.2015.342 DO - 10.2991/meic-15.2015.342 ID - Wang2015/04 ER -