TAILIEUCHUNG - InTech-Climbing and walking robots towards new applications Part 15

Tham khảo tài liệu 'intech-climbing and walking robots towards new applications part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 419 A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information 3. Conceptual Design and Calculation of Necessary Joint Torques PAWL is composed of five main parts lower exoskeletons actuators controllers sensors and power unit. By matching human degrees of freedom and limb lengths PAWL must have the necessary degrees of freedom and its segments length equal human legs in order to satisfy human normal walking. This means that for different operators to wear the exoskeleton almost all the exoskeleton limbs must be highly adjustable even for the waistband. In order to make the exoskeleton work smoothly and safety the PAWL must have the kinematics which is similar to man. The PAWL is to be attached directly to the bilateral side of human legs. shows the hybrid system of human-PAWL. It can be said that PAWL will become a part of human body or human body is a part of PAWL. The PAWL that we proposed is for assisting activities of daily life without affecting the user to walk normally. So the system has many DOFs like humans however it is impossible to include all the DOFs of human legs in consideration of design and control complexities. Here our mechanical structure consists of a 12 DOFs mechanism 6 DOFs for each leg . And all joints of PAWL are rotary structure. The hip structure has 3 DOFs in total. They perform function of flexion extension abduction adduction and internal rotation external rotation. At the knee joint there is 1 DOF which perform the flexion extension. 1 DOF at the ankle permits dorsiflexion planter flexion and 1 DOF at the metatarsophalangeal joint for flexion extension. Comparing to other joint motion the flexion extension of hip and knee is the most important to normal walking and its energy consumption is also most. So only the motion of flexion extension at hip and knee is currently powered. To make the system work smoothly and move easily besides the validity of the control strategy the .

TỪ KHÓA LIÊN QUAN
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.