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The effect of joint assistance on human-machine interactive forces for weight-bearing exoskeleton robots

Published: 12 August 2024 Publication History

Abstract

The weight-bearing exoskeleton robot helps wearer reduce the burden of carrying load, and the interactive pressure of lower limbs can be alleviated with joint assistance in the mid support phase. In order to analyze the influence of assistance at different joints on the forces between wearer and exoskeleton and propose a rational driving control mode, this paper established the mechanical model of exoskeleton according to the equivalent links and explored the interactive forces under different assistance of hip, knee and ankle joint. We found that supplying hip assistance could inconspicuously reduce the contact pressure. The mean interactive force was little at thigh but increased to 25N at shank when knee extension assistant torque with a peak value of 7Nm was provided. The human-machine force at shank was slight if a large ankle driving torque with a peak value of 18Nm was exported, without changing the interactive force at thigh. The results illustrated that the assistance of knee and ankle joint could significantly reduce lower limb contact forces compared with that of hip. Providing assistant torque at ankle joint could play a better effect if a high-power device could be applied.

References

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ICHMI '24: Proceedings of the 2024 4th International Conference on Human-Machine Interaction
May 2024
68 pages
ISBN:9798400716812
DOI:10.1145/3678429
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

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Published: 12 August 2024

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  • the National Key Research and Development Program of China
  • the National Natural Science Foundation of China
  • the Beijing Institute of Technology Research Fund Program for Young Scholars

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