Design and Analysis of a Lower Limb Loadbearing Exoskeleton
In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskeleton with the purpose of loadbearing is designed. The exo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/10/285 |
| _version_ | 1797476407609131008 |
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| author | Qiying Su Zhongcai Pei Zhiyong Tang Quan Liang |
| author_facet | Qiying Su Zhongcai Pei Zhiyong Tang Quan Liang |
| author_sort | Qiying Su |
| collection | DOAJ |
| description | In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskeleton with the purpose of loadbearing is designed. The exoskeleton is driven by four hydraulic cylinders to the hip and knee joints whose design load is 50 kg. The kinematic and dynamic model of the exoskeleton designed in this paper is established and analyzed, and it is simulated. Finally, the experiments were carried out on the exoskeleton test platform to verify that the stability, bearing capacity, tracking effect and durability of the exoskeleton can meet the requirements. |
| first_indexed | 2024-03-09T20:57:22Z |
| format | Article |
| id | doaj.art-5ad9dda098094b249e2b1997f9d953c6 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T20:57:22Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-5ad9dda098094b249e2b1997f9d953c62023-11-23T22:17:29ZengMDPI AGActuators2076-08252022-10-01111028510.3390/act11100285Design and Analysis of a Lower Limb Loadbearing ExoskeletonQiying Su0Zhongcai Pei1Zhiyong Tang2Quan Liang3School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, ChinaIn recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskeleton with the purpose of loadbearing is designed. The exoskeleton is driven by four hydraulic cylinders to the hip and knee joints whose design load is 50 kg. The kinematic and dynamic model of the exoskeleton designed in this paper is established and analyzed, and it is simulated. Finally, the experiments were carried out on the exoskeleton test platform to verify that the stability, bearing capacity, tracking effect and durability of the exoskeleton can meet the requirements.https://www.mdpi.com/2076-0825/11/10/285musculoskeletal modeldynamic modellinglower limb loadbearing exoskeletonstructure designfinite element analysissimulation |
| spellingShingle | Qiying Su Zhongcai Pei Zhiyong Tang Quan Liang Design and Analysis of a Lower Limb Loadbearing Exoskeleton Actuators musculoskeletal model dynamic modelling lower limb loadbearing exoskeleton structure design finite element analysis simulation |
| title | Design and Analysis of a Lower Limb Loadbearing Exoskeleton |
| title_full | Design and Analysis of a Lower Limb Loadbearing Exoskeleton |
| title_fullStr | Design and Analysis of a Lower Limb Loadbearing Exoskeleton |
| title_full_unstemmed | Design and Analysis of a Lower Limb Loadbearing Exoskeleton |
| title_short | Design and Analysis of a Lower Limb Loadbearing Exoskeleton |
| title_sort | design and analysis of a lower limb loadbearing exoskeleton |
| topic | musculoskeletal model dynamic modelling lower limb loadbearing exoskeleton structure design finite element analysis simulation |
| url | https://www.mdpi.com/2076-0825/11/10/285 |
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