Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation

Liang Yuhang; Liang Guoxing; Li Zhili; Song Jinpeng; Ren Qichao

doi:10.16578/j.issn.1004.2539.2017.09.016

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Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation

更新时间：2022-10-20

- Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation
- Vol. 41, Issue 9, Pages: 82-86(2017)
- 作者机构：
  
  1. 太原理工大学精密加工山西省重点实验室
  2. 中国航天员科研训练中心航天医学基础与应用国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.09.016
  CLC：
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[1]梁宇航,梁国星,李志利,宋金鹏,任启超.基于微分齐次方程的外骨骼机器人轨迹算法研究[J].机械传动,2017,41(09):82-86+105.

Liang Yuhang, Liang Guoxing, Li Zhili, et al. Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation. [J]. 41(9):82-86(2017)
[1]梁宇航,梁国星,李志利,宋金鹏,任启超.基于微分齐次方程的外骨骼机器人轨迹算法研究[J].机械传动,2017,41(09):82-86+105. DOI： 10.16578/j.issn.1004.2539.2017.09.016.

Liang Yuhang, Liang Guoxing, Li Zhili, et al. Research of Exoskeleton Trajectory Algorithm based on Homogeneous Differential Equation. [J]. 41(9):82-86(2017) DOI： 10.16578/j.issn.1004.2539.2017.09.016.

摘要

基于微分几何齐次坐标方程建立了人机外骨骼运动学方程,根据下肢运动参数得到边界条件,并以此为依据利用Matlab软件绘制了踝关节运动轨迹;面对目前人体下肢外骨骼与人体下肢运动中存在干涉的问题,建立了空间异面直线最短距离的方程,并以此为条件依据外骨骼大腿杆到人体大腿杆最短距离大于人体大腿肌肉厚度的原则进行求解,得出了人机两腿杆对应关节距离的关系式,解决了下肢外骨骼人机干涉的问题;依据设计理论完成了面向载人航天应用的多关节低阻尼下肢外骨骼的结构设计。

Abstract

The kinematical equation of man-machine exoskeletons is established based on differential geometry homogeneous coordinates equation,according to the lower limb motion parameters,the boundary conditions are got,and then the motion trajectory of ankle is drawn by using the Matlab. In the face of the human lower limb exoskeleton and lower limb movement in the presence of interference problems,the equations of shortest distance of noncoplanar lines are established,and the equations are solved according to the condition that the shortest distance between lower limb exoskeleton thigh and human thigh is greater than the human thigh muscle,the relation of the distance of rotary axial between human lower limbs and lower limb exoskeleton is obtained. Based on the theory above,the design of multi-joint and low-resistance lower limb exoskeletons is finished.

关键词

齐次方程运动学方程外骨骼结构设计

Keywords

Homogeneous equationKinematical equationExoskeletonStructure design

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