Kinematics Analysis of Human Body Wearing a Hip-Joint-Assisted Exoskeleton
Faced with the problem that existing studies on lower-limb powered exoskeleton lack joint-level kinematics analysis and assistance principle of hip exoskeleton,motion of human body wearing a hip assisted exoskeleton with multiple assist modes was recorded and analyzed.Motion data of human walking without exoskeleton,with transparent,low assistance mode,middle assistance mode,high assistance mode and resistance mode were obtained.Based on inverse kinematics and data processing,joint angles and gait characteristics were obtain.These results are helpful in clarifying the assistance principle of the hip exoskeleton,and may benefit design and motion control of assisted exoskeletons.
国家科技期刊平台
NSTL
万方数据
