Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation
The kinematical equation of man-machine exoskeletons is established based on differential geometry homogeneous coordinates equation,according to the lower limb motion parameters,the boundary conditions are got,and then the motion trajectory of ankle is drawn by using the Matlab. In the face of the h...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.016 |
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| _version_ | 1841547632075341824 |
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| author | Liang Yuhang Liang Guoxing Li Zhili Song Jinpeng Ren Qichao |
| author_facet | Liang Yuhang Liang Guoxing Li Zhili Song Jinpeng Ren Qichao |
| author_sort | Liang Yuhang |
| collection | DOAJ |
| description | The kinematical equation of man-machine exoskeletons is established based on differential geometry homogeneous coordinates equation,according to the lower limb motion parameters,the boundary conditions are got,and then the motion trajectory of ankle is drawn by using the Matlab. In the face of the human lower limb exoskeleton and lower limb movement in the presence of interference problems,the equations of shortest distance of noncoplanar lines are established,and the equations are solved according to the condition that the shortest distance between lower limb exoskeleton thigh and human thigh is greater than the human thigh muscle,the relation of the distance of rotary axial between human lower limbs and lower limb exoskeleton is obtained. Based on the theory above,the design of multi-joint and low-resistance lower limb exoskeletons is finished. |
| format | Article |
| id | doaj-art-1058b096245e40c19e49b9b336d37783 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1058b096245e40c19e49b9b336d377832025-01-10T14:21:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141828629932356Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential EquationLiang YuhangLiang GuoxingLi ZhiliSong JinpengRen QichaoThe kinematical equation of man-machine exoskeletons is established based on differential geometry homogeneous coordinates equation,according to the lower limb motion parameters,the boundary conditions are got,and then the motion trajectory of ankle is drawn by using the Matlab. In the face of the human lower limb exoskeleton and lower limb movement in the presence of interference problems,the equations of shortest distance of noncoplanar lines are established,and the equations are solved according to the condition that the shortest distance between lower limb exoskeleton thigh and human thigh is greater than the human thigh muscle,the relation of the distance of rotary axial between human lower limbs and lower limb exoskeleton is obtained. Based on the theory above,the design of multi-joint and low-resistance lower limb exoskeletons is finished.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.016Homogeneous equationKinematical equationExoskeletonStructure design |
| spellingShingle | Liang Yuhang Liang Guoxing Li Zhili Song Jinpeng Ren Qichao Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation Jixie chuandong Homogeneous equation Kinematical equation Exoskeleton Structure design |
| title | Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation |
| title_full | Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation |
| title_fullStr | Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation |
| title_full_unstemmed | Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation |
| title_short | Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation |
| title_sort | research of exoskeleton trajectory algorithm based on homogeneous differential equation |
| topic | Homogeneous equation Kinematical equation Exoskeleton Structure design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.016 |
| work_keys_str_mv | AT liangyuhang researchofexoskeletontrajectoryalgorithmbasedonhomogeneousdifferentialequation AT liangguoxing researchofexoskeletontrajectoryalgorithmbasedonhomogeneousdifferentialequation AT lizhili researchofexoskeletontrajectoryalgorithmbasedonhomogeneousdifferentialequation AT songjinpeng researchofexoskeletontrajectoryalgorithmbasedonhomogeneousdifferentialequation AT renqichao researchofexoskeletontrajectoryalgorithmbasedonhomogeneousdifferentialequation |