建模、仿真、分析与决策 |
|
|
|
|
下肢外骨骼助力机器人动力学建模及实验研究 |
王月朋1( ),汪步云2,3( ) |
1.安徽信息工程学院 机械工程学院,安徽 芜湖 241199 2.安徽工程大学 人工智能学院,安徽 芜湖 241000 3.安徽工程大学 机器人产业技术研究院,安徽 芜湖 241007 |
|
Dynamic modeling and experimental research of lower limb exoskeleton assisted robot |
Yue-peng WANG1( ),Bu-yun WANG2,3( ) |
1.College of Mechanical Engineering, Anhui Institute of Information Technology, Wuhu 241199, China 2.School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China 3.Institute of Technology Robotics Industry, Anhui Polytechnic University, Wuhu 241007, China |
1 |
MA Y, WU X Y, YANG S X, et al. Online gait planning of lower-limb exoskeleton robot for paraplegic rehabilitation considering weight transfer process[J]. IEEE Transactions on Automation Science and Engineering, 2021, 18(2): 414-425. doi:10.1109/tase.2020.2964807
doi: 10.1109/tase.2020.2964807
|
2 |
韩亚丽,王兴松.下肢助力外骨骼的动力学分析及仿真[J].系统仿真学报,2013,25(1):61-67,73. doi:10.16182/j.cnki.joss.2013.01.032 HAN Ya-li, WANG Xing-song. Dynamic analysis and simulation of lower limb power-assisted exoskeleton[J]. Journal of System Simulation, 2013, 25(1): 61-67, 73.
doi: 10.16182/j.cnki.joss.2013.01.032
|
3 |
张燕,李梵茹,李威,等.基于人机耦合的下肢外骨骼动力学分析及仿真[J].应用数学和力学,2019,40(7):780-790. doi:10.21656/1000-0887.390212 ZHANG Yan, LI Fan-ru, LI Wei, et al. Dynamic analysis and simulation of the lower extremity exoskeleton based on human-machine interaction[J]. Applied Mathematics and Mechanics, 2019, 40(7): 780-790.
doi: 10.21656/1000-0887.390212
|
4 |
WATANABE H, TANAKA N, INUTA T, et al. Locomotion improvement using a hybrid assistive limb in recovery phase stroke patients: a randomized controlled pilot study[J]. Archives of Physical Medicine and Rehabilitation, 2014, 95(11): 2006-2012. doi:10.1016/j.apmr.2014.07.002
doi: 10.1016/j.apmr.2014.07.002
|
5 |
ESQUENAZI A, TALATY M, PACKEL A, et al. The ReWalk powered exoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury[J]. American Journal of Physical Medicine and Rehabilitation, 2012, 91(11): 911-921. doi:10.1097/phm.0b013e318269d9a3
doi: 10.1097/phm.0b013e318269d9a3
|
6 |
PANIZZOLO F A, GALIANA I, ASBECK A T, et al. A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking[J]. Journal of NeuroEngineering and Rehabilitation, 2016, 13(1): 43. doi:10.1186/s12984-016-0150-9
doi: 10.1186/s12984-016-0150-9
|
7 |
陈春杰,张邵敏,王灿,等.基于稳定阈度分析的外骨骼动态步长规划方法[J].仪器仪表学报,2017,38(3):523-529. doi:10.3969/j.issn.0254-3087.2017.03.002 CHEN Chun-jie, ZHANG Shao-min, WANG Can, et al. Dynamic step length planning method based on stable threshold analysis for exoskeleton[J]. Chinese Journal of Scientific Instrument, 2017, 38(3): 523-529.
doi: 10.3969/j.issn.0254-3087.2017.03.002
|
8 |
KAZEROONI H. Human augmentation and exoskeleton systems in Berkeley[J]. International Journal of Humanoid Robotics, 2007, 4(3): 575-605. doi:10.1142/S0219843607001187
doi: 10.1142/S0219843607001187
|
9 |
何健,王海波,李雪峰,等.负重型下肢外骨骼液压动力单元的研究[J].液压与气动,2017(11):6-11. HE Jian, WANG Hai-bo, LI Xue-feng, et al. Hydraulic power unit of lower limb power assisted exoskeleton[J]. Chinese Hydraulics & Pneumatics, 2017(11): 6-11.
|
10 |
NASIRI R, AHMADI A, AHMADABADI M N. Reducing the energy cost of human running using an unpowered exoskeleton[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2018, 26(10): 2026-2032. doi:10.1109/tnsre.2018.2872889
doi: 10.1109/tnsre.2018.2872889
|
11 |
王永奉,赵国如,孔祥战,等.肌力协同补偿的无动力下肢外骨骼设计与分析[J].工程设计学报,2021,28(6):764-775. doi:10.3785/j.issn.1006-754X.2021.00.080 WANG Yong-feng, ZHAO Guo-ru, KONG Xiang-zhan, et al. Design and analysis of unpowered lower-limb exoskeleton with muscle strength synergistic compensation[J]. Chinese Journal of Engineering Design, 2021, 28(6): 764-775.
doi: 10.3785/j.issn.1006-754X.2021.00.080
|
12 |
汪步云,汪志红,许德章.下肢外骨骼助力机器人本体结构设计与运动学分析[J].机械科学与技术,2018,37(4):553-559. doi:10.13433/j.cnki.1003-8728.2018.0410 WANG Bu-yun, WANG Zhi-hong, XU De-zhang. Mechanical design and kinematics analysis on a wearable power-assisted robot for lower extremity exoskeleton[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 553-559.
doi: 10.13433/j.cnki.1003-8728.2018.0410
|
13 |
汪步云,王月朋,梁艺,等.下肢外骨骼助力机器人关节驱动设计及试验分析[J].机械工程学报,2019,55(23):55-66. doi:10.3901/JME.2019.23.055 WANG Bu-yun, WANG Yue-peng, LIANG Yi, et al. Design on articular motion and servo driving with experimental analysis for lower limb exoskeleton robot[J]. Journal of Mechanical Engineering, 2019, 55(23): 55-66.
doi: 10.3901/JME.2019.23.055
|
14 |
王月朋.下肢外骨骼助力机器人稳定性判别研究[D].芜湖:安徽工程大学,2021:68-70. WANG Yue-peng. Research on stability criterion of power-assisted robot for lower limb exoskeleton[D]. Wuhu: Anhui Polytechnic University, 2021: 68-70.
|
15 |
唐志勇,谭振中,裴忠才.下肢外骨骼机器人动力学分析与设计[J].系统仿真学报,2013,25(6):1338-1344.doi:10.16182/j.cnki.joss.2013.06.048 TANG Zhi-yong, TAN Zhen-zhong, PEI Zhong-cai. Design and dynamic analysis of lower extremity exoskeleton[J]. Journal of System Simulation, 2013, 25(6): 1338-1344.
doi: 10.16182/j.cnki.joss.2013.06.048
|
16 |
张铭奎,程文明,刘放.助力外骨骼负载特征与驱动特征耦合效应[J].浙江大学学报(工学版),2017,51(4):807-816. doi:10.3785/j.issn.1008-973X.2017.04.023 ZHANG Ming-kui, CHENG Wen-ming, LIU Fang. Coupling effect between load characteristics and joint driving characteristics of powered exoskeleton[J]. Journal of Zhejiang University (Engineering Science), 2017, 51(4): 807-816.
doi: 10.3785/j.issn.1008-973X.2017.04.023
|
17 |
邓斌,赵英朋.新型下肢外骨骼机器人动力学仿真[J].机械设计与制造,2021(6):300-304. doi:10.3969/j.issn.1001-3997.2021.06.069 DENG Bin, ZHAO Ying-peng. Dynamics simulation of new exoskeleton robot[J]. Machinery Design & Manufacture, 2021(6): 300-304.
doi: 10.3969/j.issn.1001-3997.2021.06.069
|
18 |
董平,樊军,周东栋.基于助力式外骨骼系统的动力学分析与研究[J].机床与液压,2017,45(15):1-3. doi:10.3969/j.issn.1001-3881.2017.15.001 DONG Ping, FAN Jun, ZHOU Dong-dong. Dynamics analysis and study based on wearable exoskeleton system[J]. Machine Tool & Hydraulics, 2017, 45(15): 1-3.
doi: 10.3969/j.issn.1001-3881.2017.15.001
|
19 |
谢峥,王明江,黄武龙,等.基于实时步态分析的行走辅助外骨骼机器人系统[J].生物医学工程学杂志,2017,34(2):265-270. doi:10.7507/1001-5515.201607075 XIE Zheng, WANG Ming-jiang, HUANG Wu-long, et al. Exoskeleton robot system based on real-time gait analysis for walking assist[J]. Journal of Biomedical Engineering, 2017, 34(2): 265-270.
doi: 10.7507/1001-5515.201607075
|
20 |
李石磊.下肢外骨骼机器人步态规划与控制方法研究[D].哈尔滨:哈尔滨工业大学,2017:46-53. LI Shi-lei. Gait planning and control method of lower extremity exoskeletal robot[D]. Harbin: Harbin Institute of Technology, 2017: 46-53.
|
21 |
郭冰菁,韩建海,李向攀,等.理疗师交互下的下肢康复训练机器人个性化步态规划方法[J].机器人,2018,40(4):479-490,499. doi:10.13973/j.cnki.robot.180139 GUO Bing-jing, HAN Jian-hai, LI Xiang-pan, et al. Personalized gait planning method for the lower-limb rehabilitation training robot with the physiotherapist interaction[J]. Robot, 2018, 40(4): 479-490, 499.
doi: 10.13973/j.cnki.robot.180139
|
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|