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...
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| Format: | Article |
| Language: | English |
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Hindawi Limited
2018-01-01
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| Series: | Journal of Healthcare Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/9712926 |
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doaj-fbebfeff4220455f969cce77c55a173e2020-11-25T00:41:46ZengHindawi LimitedJournal of Healthcare Engineering2040-22952040-23092018-01-01201810.1155/2018/97129269712926Mechanical Design and Control Strategy for Hip Joint Power AssistingWenyuan Liang0College of Engineering, Peking University, Beijing 100870, ChinaThe 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.http://dx.doi.org/10.1155/2018/9712926 |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Wenyuan Liang |
| spellingShingle |
Wenyuan Liang Mechanical Design and Control Strategy for Hip Joint Power Assisting Journal of Healthcare Engineering |
| author_facet |
Wenyuan Liang |
| author_sort |
Wenyuan Liang |
| title |
Mechanical Design and Control Strategy for Hip Joint Power Assisting |
| title_short |
Mechanical Design and Control Strategy for Hip Joint Power Assisting |
| title_full |
Mechanical Design and Control Strategy for Hip Joint Power Assisting |
| title_fullStr |
Mechanical Design and Control Strategy for Hip Joint Power Assisting |
| title_full_unstemmed |
Mechanical Design and Control Strategy for Hip Joint Power Assisting |
| title_sort |
mechanical design and control strategy for hip joint power assisting |
| publisher |
Hindawi Limited |
| series |
Journal of Healthcare Engineering |
| issn |
2040-2295 2040-2309 |
| publishDate |
2018-01-01 |
| description |
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. |
| url |
http://dx.doi.org/10.1155/2018/9712926 |
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AT wenyuanliang mechanicaldesignandcontrolstrategyforhipjointpowerassisting |
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