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Biomechanical modeling and load-carrying simulation of lower limb exoskeleton

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Zhu, Yanhe; * | Zhang, Guoan | Zhang, Chao | Liu, Gangfeng | Zhao, Jie

Affiliations: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China

Correspondence: [*] Address for correspondence: Yanhe Zhu, State Key Laboratory of Robotics Institute, Harbin Institute of Technology, HIT Science Park Robotics Institute 203, Yikuang Street No. 2, Nangang District, Harbin, Heilongjia 150006, China. Tel.: 13074594165; Fax: 0451-86414538; E-mail: [email protected].

Keywords: Lower extremity exoskeleton, controller, zero-force interaction, simulation

DOI: 10.3233/BME-151364

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S729-S738, 2015

Published: 2015
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This paper introduces novel modern equipment—a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot’s mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic parameter. The control was designed to implement the zero-force interaction between human and exoskeleton. Furthermore, simulations were performed to verify the control and assist effect. In conclusion, the system scheme of lower extremity exoskeleton is demonstrated to be feasible.

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