Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons
To improve the human-machine coordination of existing assistive exoskeletons, this study utilizes experimental data collection of human lower limb motion to establish inverse kinematic and inverse dynamic models. Analysis is conducted on parameters such as angles, torques, and kinetic energy of the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.010 |
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| author | Yang Jie Wang Xupeng Tang Xinyao Zhang Wenjie |
| author_facet | Yang Jie Wang Xupeng Tang Xinyao Zhang Wenjie |
| author_sort | Yang Jie |
| collection | DOAJ |
| description | To improve the human-machine coordination of existing assistive exoskeletons, this study utilizes experimental data collection of human lower limb motion to establish inverse kinematic and inverse dynamic models. Analysis is conducted on parameters such as angles, torques, and kinetic energy of the hip joint during walking. Based on these parameters, a variable stiffness spring-based energy storage element is proposed and designed for the passive hip joint assistive exoskeleton. Human-machine coupling simulations are carried out using Adams software to validate the designed exoskeleton's coordination with human movements. The simulation results indicate that the designed passive hip joint assistive exoskeleton demonstrates favorable human-machine coordination. Subsequently, the physical prototype of the exoskeleton is fabricated, and a wearable experiment is conducted. The experimental results show an average reduction of 5.6% in hip joint torque and 6.25% in work done during the gait cycle with the exoskeleton. This confirms the positive assistance effect of the passive hip joint assistive exoskeleton on the human walking. |
| format | Article |
| id | doaj-art-379df992dd844010bf714a6036b35504 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-379df992dd844010bf714a6036b355042025-01-10T15:01:14ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-08-0148708167631601Design and Analysis of Non-dynamic Hip Joint Assisted ExoskeletonsYang JieWang XupengTang XinyaoZhang WenjieTo improve the human-machine coordination of existing assistive exoskeletons, this study utilizes experimental data collection of human lower limb motion to establish inverse kinematic and inverse dynamic models. Analysis is conducted on parameters such as angles, torques, and kinetic energy of the hip joint during walking. Based on these parameters, a variable stiffness spring-based energy storage element is proposed and designed for the passive hip joint assistive exoskeleton. Human-machine coupling simulations are carried out using Adams software to validate the designed exoskeleton's coordination with human movements. The simulation results indicate that the designed passive hip joint assistive exoskeleton demonstrates favorable human-machine coordination. Subsequently, the physical prototype of the exoskeleton is fabricated, and a wearable experiment is conducted. The experimental results show an average reduction of 5.6% in hip joint torque and 6.25% in work done during the gait cycle with the exoskeleton. This confirms the positive assistance effect of the passive hip joint assistive exoskeleton on the human walking.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.010Hip joint assisted exoskeletonVariable stiffness springInverse kinematicInverse dynamicSimulation |
| spellingShingle | Yang Jie Wang Xupeng Tang Xinyao Zhang Wenjie Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons Jixie chuandong Hip joint assisted exoskeleton Variable stiffness spring Inverse kinematic Inverse dynamic Simulation |
| title | Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons |
| title_full | Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons |
| title_fullStr | Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons |
| title_full_unstemmed | Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons |
| title_short | Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons |
| title_sort | design and analysis of non dynamic hip joint assisted exoskeletons |
| topic | Hip joint assisted exoskeleton Variable stiffness spring Inverse kinematic Inverse dynamic Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.010 |
| work_keys_str_mv | AT yangjie designandanalysisofnondynamichipjointassistedexoskeletons AT wangxupeng designandanalysisofnondynamichipjointassistedexoskeletons AT tangxinyao designandanalysisofnondynamichipjointassistedexoskeletons AT zhangwenjie designandanalysisofnondynamichipjointassistedexoskeletons |