Dynamic Modeling and Simulation of Human-machine Carrying Exoskeleton Loading on Slopes
Nie Shaoqing
Liu Fang
Dong Rong
Liu Yafei
Wu Baoning
Abstract：In order to achieve accurate control of the lower extremity exoskeleton,the joint torque was ana-lyzed when the exoskeleton climbed the slope with different loads.Based on the third generation of the human-machine portable assisted exoskeleton robot of Southwest Jiaotong University,the exoskeleton dynamics model was established by the Lagrange method,and the calculation expressions of each joint torque were obtained.The lower extremity motion data was obtained by the 3D motion capture system,the driving torque required by the joint was calculated by the Matlab software,and the torque variation law was obtained during the process of climbing the slope.Finally,the three-dimensional exoskeleton model was established in SolidWorks software and imported into Adams software for dynamic simulation,and the reliability of the simulation results was veri-fied by comparing with the theoretical calculation results.The results of this study can increase the accuracy of the control results in the process of the exoskeleton climbing and the comfort of wearing the exoskeleton.
Keywords：Lower extremity assisted exoskeletonDynamic simulationHuman-machine carrying
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：7( 79-85 )