title: Biomechanical modeling and load-carrying simulation of lower limb exoskeleton.
abstract: 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.
authors.affiliation: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China.
authors.forename: Yanhe
authors.initials: Y
authors.lastname: Zhu
authors.affiliation: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China.
authors.forename: Guoan
authors.initials: G
authors.lastname: Zhang
authors.affiliation: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China.
authors.forename: Chao
authors.initials: C
authors.lastname: Zhang
authors.affiliation: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China.
authors.forename: Gangfeng
authors.initials: G
authors.lastname: Liu
authors.affiliation: State Key Laboratory of Robotics Institute, Science Park Robotics Institute, Harbin Institute of Technology, Heilongjia 150006, China.
authors.forename: Jie
authors.initials: J
authors.lastname: Zhao
mesh_terms: D001186:Artificial Limbs; D003198:Computer Simulation; D017076:Computer-Aided Design; D019544:Equipment Failure Analysis / Q000379:methods; D000067190:Exoskeleton Device; D006801:Humans; D007596:Joints / Q000502:physiology*; D007866:Leg / Q000502:physiology*; D008954:Models, Biological; D009119:Muscle Contraction / Q000502:physiology; D018482:Muscle, Skeletal / Q000502:physiology*; D011474:Prosthesis Design / Q000379:methods; D013314:Stress, Mechanical; D013813:Therapy, Computer-Assisted / Q000295:instrumentation / Q000379:methods; D019415:Torque; D016474:Weight-Bearing / Q000502:physiology
keywords: Lower extremity exoskeleton; controller; simulation; zero-force interaction