On the Mechanical Design and Control of a Self-Adaptive Exoskeleton Chair

被引：0

作者：

Liao, Yongqiang ^{[1
,2
]}

Wang, Can ^{[1
]}

Wu, Xinyu ^{[1
,3
]}

Lu, Feng ^{[1
]}

Wang, Pingan ^{[1
]}

Cai, Shibo ^{[4
]}

机构：

[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, Key Lab Human Machine Intelligence Synerg Syst, Beijing 100864, Peoples R China

[2] Guangdong Univ Technol, Sch Electromech Engn, Guangzhou, Guangdong, Peoples R China

[3] Chinese Univ Hong Kong, Dept Mech & Automat, Shatin, Hong Kong, Peoples R China

[4] Zhejiang Univ Technol, Minist Educ & Zhejiang Prov, Key Lab E&M, Hangzhou, Zhejiang, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年

关键词：

Exoskeleton; Self-adaptive chair; Sitting down process; ADAMS simulation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel device that can be attached to a lower-limb exoskeleton to assist lower extremity hemiplegic patients during sitting down and standing up. Such device serves as a self-adaptive exoskeleton chair. The mechanical design has simple structure, great applicability, reliability and high driving efficiency. This paper first models and analysis the muscle forces during standing up and sitting down process utilizing OpenSim. Moreover, the simulation of motor energy consumption using the ADAMS software was also presented to verify the effectiveness of the proposed device.

引用

页码：937 / 942

页数：6

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