Mechanical Design and Control Strategy for Hip Joint Power Assisting
The basic requirements for mechanical design and control strategy are adapting to human joint movements and building an interaction model between human and robot. In this paper, a 3-UPS parallel mechanism is adopted to realize that the instantaneous rotation center of the assistive system coincides...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2018-01-01
|
| Series: | Journal of Healthcare Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/9712926 |
| Summary: | The basic requirements for mechanical design and control strategy are adapting to human joint movements and building an interaction model between human and robot. In this paper, a 3-UPS parallel mechanism is adopted to realize that the instantaneous rotation center of the assistive system coincides with human joint movement center, and a force sensory system is used to detect human movement intention and build the modeling of control strategy based on the interactive force. Then, based on the constructed experimental platform, the feasibility of movement intention detection and power assisting are verified through the experimental results. |
|---|---|
| ISSN: | 2040-2295 2040-2309 |