Conditions for active assistance control of exoskeleton robot

被引：0
|
作者：
Qiu, Shiyin [1 ]
Guo, Wei [1 ]
Zha, Fusheng [1 ,2 ]
Wang, Xin [2 ]
Sheng, Wentao [1 ]
Chen, Fei [3 ,4 ]
Caldwell, Darwin [3 ,4 ]
机构：
[1] Harbin Inst Technol, Sch Mechatron Engn, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
[2] Shenzhen Acad Aerosp Technol, Shenzhen 518057, Peoples R China
[3] Shenzhen Acad Aerosp Technol, Robot Inst, Shenzhen 518057, Peoples R China
[4] Ist Italiano Tecnol, Dept Adv Robot, I-16163 Genoa 30, Italy
来源：
2020 5TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2020) | 2020年
基金：
中国国家自然科学基金;
关键词：
DYNAMIC SIMULATIONS; FRAMEWORK; OPENSIM;
D O I：
10.1109/icarm49381.2020.9195381
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.
引用
收藏
页码：220 / 227
页数：8
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