Study on Ankle Movement Model based on Fourier Series
The study of the lower limb movement model of the human body is one of the core contents of the exoskeleton robot driving and control system. Aiming at the shortcomings of complicated fitting process,discontinuity after high order derivation of the model and so on in the fitting process of ankle joi...
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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
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.019 |
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| author | Han Jikai Luo Yufeng Shi Zhixin Xie Dongfu Liu Zhenkun |
| author_facet | Han Jikai Luo Yufeng Shi Zhixin Xie Dongfu Liu Zhenkun |
| author_sort | Han Jikai |
| collection | DOAJ |
| description | The study of the lower limb movement model of the human body is one of the core contents of the exoskeleton robot driving and control system. Aiming at the shortcomings of complicated fitting process,discontinuity after high order derivation of the model and so on in the fitting process of ankle joint motion model by using piecewise function,the Fourier series method is used to establish the model of the horizontal movement of the ankle joint in the sagittal plane,and the motion model of the ankle joint in the sagittal plane is established by using the polynomial fitting process,it has a simple,accurate,non-impact characteristics by the ankle articulation model obtained by the method,and the model is continuity and the conductivity. Finally,the model can be used to demonstrate the characteristics of the ankle movement in healthy people,at the same time,motion simulation is performed by ADAMAS to verify the correctness of the ankle driver used in exoskeleton robots. The study of the lower limb ankle movement model of the human body provides an important theoretical basis for studying the characteristics of the ankle movement in healthy subjects during normal walking,and provides a reference model for the driving and control of the ankle joint of the exoskeleton. |
| format | Article |
| id | doaj-art-36acb3e13ca1402d8db72bbdd3e8415c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-36acb3e13ca1402d8db72bbdd3e8415c2025-01-10T14:41:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-01429810329938005Study on Ankle Movement Model based on Fourier SeriesHan JikaiLuo YufengShi ZhixinXie DongfuLiu ZhenkunThe study of the lower limb movement model of the human body is one of the core contents of the exoskeleton robot driving and control system. Aiming at the shortcomings of complicated fitting process,discontinuity after high order derivation of the model and so on in the fitting process of ankle joint motion model by using piecewise function,the Fourier series method is used to establish the model of the horizontal movement of the ankle joint in the sagittal plane,and the motion model of the ankle joint in the sagittal plane is established by using the polynomial fitting process,it has a simple,accurate,non-impact characteristics by the ankle articulation model obtained by the method,and the model is continuity and the conductivity. Finally,the model can be used to demonstrate the characteristics of the ankle movement in healthy people,at the same time,motion simulation is performed by ADAMAS to verify the correctness of the ankle driver used in exoskeleton robots. The study of the lower limb ankle movement model of the human body provides an important theoretical basis for studying the characteristics of the ankle movement in healthy subjects during normal walking,and provides a reference model for the driving and control of the ankle joint of the exoskeleton.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.019Ankle jointImpactFourier seriesMathematical modelSimulation |
| spellingShingle | Han Jikai Luo Yufeng Shi Zhixin Xie Dongfu Liu Zhenkun Study on Ankle Movement Model based on Fourier Series Jixie chuandong Ankle joint Impact Fourier series Mathematical model Simulation |
| title | Study on Ankle Movement Model based on Fourier Series |
| title_full | Study on Ankle Movement Model based on Fourier Series |
| title_fullStr | Study on Ankle Movement Model based on Fourier Series |
| title_full_unstemmed | Study on Ankle Movement Model based on Fourier Series |
| title_short | Study on Ankle Movement Model based on Fourier Series |
| title_sort | study on ankle movement model based on fourier series |
| topic | Ankle joint Impact Fourier series Mathematical model Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.019 |
| work_keys_str_mv | AT hanjikai studyonanklemovementmodelbasedonfourierseries AT luoyufeng studyonanklemovementmodelbasedonfourierseries AT shizhixin studyonanklemovementmodelbasedonfourierseries AT xiedongfu studyonanklemovementmodelbasedonfourierseries AT liuzhenkun studyonanklemovementmodelbasedonfourierseries |