Improvement of energy consumption for a lower limb exoskeleton through verticalization time optimization

被引：0
作者：
Jatsun, Sergey [1 ]
Savin, Sergei [1 ]
Yatsun, Andrey [1 ]
机构：
[1] Southwest State Univ, Dept Mech Mechatron & Robot, Kursk, Russia
来源：
2016 24TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2016年
基金：
俄罗斯科学基金会;
关键词：
DYNAMIC WALKING; ROBOT; EFFICIENT; DESIGN;
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 focuses on a lower limb exoskeleton. The problem of improvement of energy efficiency of the exoskeleton during sit-to-stand motion (verticalization) is considered. Optimization of the time allocated for the verticalization motion is proposed as a way to improve energy efficiency. It is shown that optimal time of verticalization depends on the initial position of the exoskeleton and the relation between the two can be approximated by a polynomial function. An analysis and suggestions for practical applications of the obtained results are presented.
引用
收藏
页码：322 / 326
页数：5
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