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/).

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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  -