Measuring on Coupling Force between Lower Extremity Exoskeleton and Subject during Rehabilitation Training
To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject A method to extract the subjects active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed, one is an on-line experiment via different mass loadings, the other is the experiment via different forcing at rest positions in one gait cycle. The experimental results show that the mechanism is available for human-robot coupling force measuring. It also provides the feasibility and validity which will be used in subjects on-line extracting of active forces based on the dynamic model during rehabilitation training.
lower extremity exoskeleton dynamic model human-robot coupling force force measuring
Liuling Xu Linyong Shen Jinwu Qian Yanan Zhang Zhong Wen
Shanghai University of Mechatronics Engineering and Automation, Shanghai, 200072, China
国际会议
深圳
英文
822-825
2011-03-28（万方平台首次上网日期，不代表论文的发表时间）