The lower extremity exoskeleton is a wearable device that can increase the strength, speed, and endurance of the wearer. In order to let the exoskeleton moving at desired trajectories, an accurate kinematics model of the mechanism is required. As theexoskeleton has many degrees of freedom (DOFs) and has no fixed base, it is difficult to analyze the kinematics by using conventional methods. In this paper, a generalized kinematics model of lower extremity exoskeletons is proposed by employing coordinate transforming matrix. Meanwhile, the formulation of forward kinematics and the inverse kinematics are discussed in detail. Finally, gait planning is realized according to the results of kinematics analysis. The commercialized dynamics analysis software ADAMS was selected for the modeling and simulation of the generalized lower extremity exoskeleton. To verify the theoretical analysis, a virtual low extremity exoskeleton is built. Based on the inversed kinematics of low extremity exoskeleton, the virtual prototype walks stably in ADAMS by controlled by MATLAB SIMULINK for tracking a desired gait data.

Категория: Ищем научные статьи | Нет комментариев »

Traditional exoskeleton suit need to install many complex sensors between the pilot and the exoskeleton system to measure the human-machine interactive information, which decrease the comfort of the pilot. Sensitivity amplification control can control theexoskeleton suit to trace the pilotpsilas movement as well as need no sensors between the pilot and the exoskeleton. However, sensitivity amplification control seriously relies on the systempsilas dynamic model and it is hard to build the exoskeletonsuitpsilas dynamic model exactly because the exoskeleton suit is a multi-body, multi-degree and nonlinear system. So the dynamic model of the swing leg of exoskeleton suit was identified by BP neural networks, which simplified the procedure of building the system model. Neural network sensitivity amplification control was proposed and its feasibility was validated by simulation based on Simulink and SimMechanics toolbox in Matlab.

Категория: Ищем научные статьи | Нет комментариев »

29 сентября в рамках Петербургского Международного Инновационного форума состоится выступление Эйтора Бендера, генерального директора компании Berkeley Bionics,производителя экзосклетов eLEGS и Halc.
Выступление состоится на конференции «Эволюция роботов: из космоса в повседневную жизнь» которая начнется в Ленэкспо, 7 павильон,зал 7.2.Начало в 17.00

(далее…)

Категория: Berkeleybionics, EXOMEN | 15 комментариев »

«Handroid» является дистанционно-управляемой роботизированной кистью руки человека. Она полностью повторяет строение человеческой кисти, а ее пальцы так же подвижны, как и настоящие человеческие. При этом рука способна захватывать как тяжелые, так и хрупкие предметы.

(далее…)

Категория: Кисти рук | Нет комментариев »

Single loop adjuster which is realized as a digital adjuster with the function of single loop adjustment by microprocessor, has a vital role in industrial control. This paper puts forward a method of using wireless mode, which sets the injunction to single loop adjuster on remote supervisory computer for centralized control, and has a deep research on hardware and software design of specific system.

Категория: Ищем научные статьи | 1 Комментарий »