A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Pneumatic Actuators
A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Pneumatic Actuators
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DOI：
10.37190/abb-01991-2021-05
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发表时间：
2021-01-01
影响因子：
1
通讯作者：
Ptak, Mariusz
中科院分区：
文献类型：
--
作者：
Glowinski, Sebastian;Ptak, Mariusz
目的：虽然外骨骼作为附着在人体四肢上的机器人可以增加其力量是众所周知的，但有限的研究提出了一个基于人体测量数据的人类腿气动外骨骼的计算机和数学模型。方法：利用惯性测量装置，计算步行和跑步时的下肢关节角度(髋关节、膝关节和踝关节在矢状面)。建立了人体腿部气动外骨骼的几何模型。在实验过程中获得的关节角度数据被用于建立数学模型。结果：利用MatLab软件包(MatLab_R2017b，The MathWorks Company，Novi，MI，USA)计算了外骨骼驱动器在运动各阶段的位置和速度。结论：所获得的结果证明了所提出的方法的有效性，该方法可用于气动外骨骼的运动学分析。所开发的数学模型使确定肢体节段和外骨骼元件的位置成为可能。所提出的模型允许计算人类腿的位置和执行器的特征点。
Purpose: Although it is well-established that exoskeletons as robots attached to the human body's extremities increase their strength, limited studies presented a computer and mathematical model of a human leg pneumatic exoskeleton based on anthropometric data. Methods: By using Inertial Measurement Units a lower limb joint angles (hip, knee and ankle in sagittal plane) during walking and running were calculated. The geometric model of a human leg pneumatic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. Results: The position and velocity of exoskeleton actuators in each phase of the movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). Conclusions: The obtained results demonstrate the efficiency of the proposed approach that can be utilized to analyze the kinematics of pneumatic exoskeletons using the dedicated design process. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators' characteristic points.