Centroid Estimation Method Based on the Statically Equivalent Serial Chain of the Human-exoskeleton-load Coupling System
Deng Rong
Liu Fang
Huang Taotao
Song Zepeng
Xu Peisen
Huang Wenjian
Abstract：The existing centroid estimation methods only study the changes of the centroid of exoskele-tons,and ignore the coupling between the human body and exoskeletons.In order to study the change of the cen-troid in the human-exoskeleton-load coupling system,a centroid estimation method based on the statically equivalent serial chain was proposed.Firstly,a human-exoskeleton-load coupling system model was estab-lished,and the kinematic parameters required for the model were acquired by the human motion characteristics experiment.Secondly,the experimental process was simulated in the OpenSim simulation environment,and the changes of the center of mass of the human-exoskeleton-load coupling system under different loading condi-tions were obtained.Finally,the feasibility of the centroid model was proved through the theoretical calculation and the simulation,which provides a theoretical basis for the research of exoskeletons in the human-machine carrying.
Keywords：ExoskeletonCentroid estimationStatically equivalent serial chainOpenSim software
Publication Date：2024-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：5( 32-36 )