Abstract
This paper is concerned with the dynamic characteristics of human exoskeleton. The dynamic characteristics of the four hydraulic cylinders powering the exoskeleton are chosen to be the study objects. Numerical simulation of one typical posture, one knee down and up, is achieved by using the commercial package Matlab, ANSYS etc. The path trajectories of the exoskeleton are captured by optical motion capture system and fitted into a function of angular. This function drives the skeleton system in a simulation performed in ADAMS. The numerical results showed trends of the four hydraulic cylinder displacement curves are flat and varied. Meanwhile, the load of knee hydraulic cylinder is only 2.3% of the total weight as the skeleton being in upright position. In addition, kinetic curves of the four hydraulic cylinders trend to be flat, confirming the reasonability of the exoskeleton structure design and hydraulic cylinder setting.
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Cheng, Wm., Liu, F., Shao, Jb. (2012). Dynamic Characteristics Study of Human Exoskeleton Based on Virtual Prototype. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_63
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DOI: https://doi.org/10.1007/978-3-642-34103-8_63
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