Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction

ZHANG Yan; LI Fanru; LI Wei; LIU Zuojun

doi:10.21656/1000-0887.390212

Volume 40 Issue 7

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Article Navigation > Applied Mathematics and Mechanics > 2019 > 40(7): 780-790

ZHANG Yan, LI Fanru, LI Wei, LIU Zuojun. 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

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Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction

doi: 10.21656/1000-0887.390212

¹Department of Automation, Hebei University of Technology, Tianjin 300130, P.R.China;²International College, Zhengzhou University, Zhengzhou 450000, P.R.China

Funds: The National Natural Science Foundation of China(61773151；61703135)

Received Date: 2018-08-03
Rev Recd Date: 2019-05-23
Publish Date: 2019-07-01

Abstract

Abstract

A human body-exoskeleton model with human-machine interaction was established. The human body and the exoskeleton were modeled respectively with a 7-link rigid body mechanism, and the D-H coordinate system was introduced to obtain the change vectors of the human-machine model during motion. The Newton-Euler equations were used for dynamic analysis, and the body-exoskeleton interaction was simplified as elastic forces. According to the distance changes between the centroids of the body and the exoskeleton in motion, the relative displacements and the interaction forces were determined. Finally, the dynamic model was simulated with the ADAMS (automatic dynamic analysis of mechanical system), and the joint torques obtained from the dynamic equations were substituted into the simulation. The results verify the correctness of the body-exoskeleton model.
- lower extremity exoskeleton,
- human-machine interaction,
- D-H coordinate,
- dynamics,
- simulation

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References(19)

References

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