Study on Compliant Actuator of the Knee Joint for Exoskeleton
The compliance of the joint for exoskeleton is very important in adapting to the wearer's motions and human-machine compatibility. However，the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machin...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.015 |
| _version_ | 1797819619442950144 |
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| author | Pingxin Ji Peng Song Xinmin Mo Zuba Wei Hao Zhao |
| author_facet | Pingxin Ji Peng Song Xinmin Mo Zuba Wei Hao Zhao |
| author_sort | Pingxin Ji |
| collection | DOAJ |
| description | The compliance of the joint for exoskeleton is very important in adapting to the wearer's motions and human-machine compatibility. However，the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machine interaction forces. Therefore，an active compliant actuator of the knee joint is developed，using of the antagonistic driving principles and the force-position transformation of the slider-crank mechanism，which can not only implement the compliance of the traditional series elastic actuator，but also can obtain the real-time human-machine interaction forces. Finally，the feasibility and effectiveness of the compliant actuator are verified by tests. |
| first_indexed | 2024-03-13T09:26:18Z |
| format | Article |
| id | doaj.art-8edddb0d1cf24e4fbf6bfb53ca7a367e |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:26:18Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-8edddb0d1cf24e4fbf6bfb53ca7a367e2023-05-26T09:34:30ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145969919864334Study on Compliant Actuator of the Knee Joint for ExoskeletonPingxin JiPeng SongXinmin MoZuba WeiHao ZhaoThe compliance of the joint for exoskeleton is very important in adapting to the wearer's motions and human-machine compatibility. However，the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machine interaction forces. Therefore，an active compliant actuator of the knee joint is developed，using of the antagonistic driving principles and the force-position transformation of the slider-crank mechanism，which can not only implement the compliance of the traditional series elastic actuator，but also can obtain the real-time human-machine interaction forces. Finally，the feasibility and effectiveness of the compliant actuator are verified by tests.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.015Knee joint for exoskeleton;Compliant actuator;Torque estimation |
| spellingShingle | Pingxin Ji Peng Song Xinmin Mo Zuba Wei Hao Zhao Study on Compliant Actuator of the Knee Joint for Exoskeleton Jixie chuandong Knee joint for exoskeleton;Compliant actuator;Torque estimation |
| title | Study on Compliant Actuator of the Knee Joint for Exoskeleton |
| title_full | Study on Compliant Actuator of the Knee Joint for Exoskeleton |
| title_fullStr | Study on Compliant Actuator of the Knee Joint for Exoskeleton |
| title_full_unstemmed | Study on Compliant Actuator of the Knee Joint for Exoskeleton |
| title_short | Study on Compliant Actuator of the Knee Joint for Exoskeleton |
| title_sort | study on compliant actuator of the knee joint for exoskeleton |
| topic | Knee joint for exoskeleton;Compliant actuator;Torque estimation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.015 |
| work_keys_str_mv | AT pingxinji studyoncompliantactuatorofthekneejointforexoskeleton AT pengsong studyoncompliantactuatorofthekneejointforexoskeleton AT xinminmo studyoncompliantactuatorofthekneejointforexoskeleton AT zubawei studyoncompliantactuatorofthekneejointforexoskeleton AT haozhao studyoncompliantactuatorofthekneejointforexoskeleton |