Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits

Pan, Dalei; Gao, Feng; Miao, Yunjie

doi:10.1177/0954406213509611

Cited by 11 publications

(19 citation statements)

References 31 publications

(23 reference statements)

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“…Therefore, a dynamic model (see Figure 2(c)) [25, 26] was initially developed based on Lagrangian, where coordinates of the mass centers for the hip ( m h ) and knee ( m k ) were as follows:

\begin{matrix} \begin{matrix} x_{m_{h}} = d_{h} \cos (180^{\circ} - θ_{h} - α) \\ y_{m_{h}} = d_{h} \sin (180^{\circ} - θ_{h} - α) \\ Z_{m_{h}} = 0 \end{matrix}, \end{matrix}

\begin{matrix} \begin{matrix} x_{m_{k}} = l_{A K} \cos (180^{\circ} - θ_{h}) - d_{k} \sin (270^{\circ} - θ_{k} - θ_{h} - β) \\ y_{m_{k}} = l_{A K} \sin (180^{\circ} - θ_{h}) + d_{k} c o s (270^{\circ} - θ_{k} - θ_{h} - β) \\ z_{m_{k}} = 0 . \end{matrix} \end{matrix}

…”

Section: Methodsmentioning

confidence: 99%

An Open-Structure Treadmill Gait Trainer: From Research to Application

Chen

Fan

2017

Journal of Healthcare Engineering

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Lower limb rehabilitation robots are designed to enhance gait function in individuals with motor impairments. Although numerous rehabilitation robots have been developed, only few of these robots have been used in practical health care, particularly in China. The objective of this study is to construct a lower limb rehabilitation robot and bridge the gap between research and application. Open structure to facilitate practical application was created for the whole robot. Three typical movement patterns of a single leg were adopted in designing the exoskeletons, and force models for patient training were established and analyzed under three different conditions, respectively, and then a control system and security strategy were introduced. After establishing the robot, a preliminary experiment on the actual use of a prototype by patients was conducted to validate the functionality of the robot. The experiment showed that different patients and stages displayed different performances, and results on the trend variations across patients and across stages confirmed the validity of the robot and suggested that the design may lead to a system that could be successful in the treatment of patients with walking disorders in China. Furthermore, this study could provide a reference for a similar application design.

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“…Therefore, a dynamic model (see Figure 2(c)) [25, 26] was initially developed based on Lagrangian, where coordinates of the mass centers for the hip ( m h ) and knee ( m k ) were as follows:

\begin{matrix} \begin{matrix} x_{m_{h}} = d_{h} \cos (180^{\circ} - θ_{h} - α) \\ y_{m_{h}} = d_{h} \sin (180^{\circ} - θ_{h} - α) \\ Z_{m_{h}} = 0 \end{matrix}, \end{matrix}

\begin{matrix} \begin{matrix} x_{m_{k}} = l_{A K} \cos (180^{\circ} - θ_{h}) - d_{k} \sin (270^{\circ} - θ_{k} - θ_{h} - β) \\ y_{m_{k}} = l_{A K} \sin (180^{\circ} - θ_{h}) + d_{k} c o s (270^{\circ} - θ_{k} - θ_{h} - β) \\ z_{m_{k}} = 0 . \end{matrix} \end{matrix}

…”

Section: Methodsmentioning

confidence: 99%

An Open-Structure Treadmill Gait Trainer: From Research to Application

Chen

Fan

2017

Journal of Healthcare Engineering

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“…Since in most situations some joints need much more torque and power than other joints, to simplify the exoskeleton, only joint T, link IB, link IC, and joint J are actuated and other joints are compliant. 1 Joint T and Joint P correspond to human hip abduction/adduction and human hip rotation respectively. Joint J and joint Q correspond to human ankle flexion/extension and human ankle abduction/adduction respectively.…”

Section: Model Description Distribution Of Dofsmentioning

confidence: 99%

Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

Pan

Gao

Miao

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a switch-type and parameter self-tuning fuzzy-PID/PID controller for a novel lower extremity exoskeleton with a series-parallel mechanism according to the features of human level walking gait. The novel exoskeleton mechanism was described, the biological characteristics of human legs during the walking cycle were analyzed and a mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Then the schematic of the exoskeleton control strategy was discussed and illustrated. The co-simulation method of ADAMS and MATLAB/SIMULINK was adopted and the fuzzy-PID/PID controller was designed. A 1-DOF rotation control was simulated by both the fuzzy-PID/PID controller and a conventional PID controller for comparison. Finally, the exoskeleton level walking gait was co-simulated by using the bio-inspired control strategy. The results show that the controller can provide a fast, stable and precise control for the exoskeleton system.

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“…pressures. All the average motion performances can be calculated according to the objective function in equations (6) and (7), whose curves are as illustrated in Figure 11. The shapes of the curves in Figure 11 are similar to those in Figure 9.…”

Section: Experimental Validationmentioning

confidence: 99%

“…3,4 Electromechanical equipment usually have a lot of motion performance indexes 5 and complex influence parameters. 6,7 And due to the lack of efficient and feasible methods, it is not easy to evaluate or optimize motion performances. 8 The driving device of main steam and feed water isolation valves, which is composed of hydraulic circuits and pneumatic circuits, is the typical electromechanical equipment in nuclear power plants.…”

Section: Introductionmentioning

confidence: 99%

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

Pan

Gu²,

Guo³

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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The driving device of the main steam and feed water isolation valves is one of the most important electromechanical equipment in nuclear power plants, and its motion performances are related to the safety of nuclear power plants. This article proposes an optimization methodology to research the motion performances. In the methodology, inputs are the motion performance indexes and the major influencing parameters with no need for complex mathematical models of the electromechanical equipment; the co-simulation model or the prototype are adopted to illustrate the influence rules of major parameters on the motion performance indexes; objective functions for optimization, which combine motion performances with weight factors, can reveal the influence rule curves. Then based on the methodology, motion performances of the equipment are analyzed and the key indexes are selected. Besides, the maximum pressure of the driving device is chosen as the major parameter and a dimensionless objective function synthesizing the motion performance indexes is proposed. Finally, the influence rule curve where the dimensionless function varies with the maximum pressure is obtained by the co-simulation and the experimental study on the prototype verifies the results, which provides references for the further research and development in the engineering application. For other electromechanical equipment, the method is an efficient tool to design, verify, and optimize the performances.

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Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits

Cited by 11 publications

References 31 publications

An Open-Structure Treadmill Gait Trainer: From Research to Application

An Open-Structure Treadmill Gait Trainer: From Research to Application

Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

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