Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation
A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor...
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| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2015-01, Vol.229 (1), p.155-167 |
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| container_title | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science |
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| creator | Miao, Yunjie Gao, Feng Pan, Dalei |
| description | A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances. |
| doi_str_mv | 10.1177/0954406214532078 |
| format | Article |
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Part C, Journal of mechanical engineering science</title><description>A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances.</description><subject>Cutting tools</subject><subject>Design optimization</subject><subject>Exoskeletons</subject><subject>Influence coefficient</subject><subject>Kinematics</subject><subject>Loads (forces)</subject><subject>Mechanical engineering</subject><subject>Motion control</subject><subject>Optimization</subject><subject>Prototypes</subject><subject>Walking</subject><issn>0954-4062</issn><issn>2041-2983</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp1kU1LxDAQhoMouH7cPQa8eKkmadKmR1n8AkEPei5pM9nN2jZrkmWtP8Dfbdb1IAvOZWZ4n_dlYBA6o-SS0rK8IpXgnBSMcpEzUso9NGGE04xVMt9Hk42cbfRDdBTCgqRihZigr2fvoovjErCGYGcDVoPGwX4Cdstoe_uponUDdgYrPB8bbzXu3Bo8ho_oobdxTJMLb9BBTNzaxnkiQ2tDcB730M7VYEOPTdo6p3TWKu9HO8ywWs16GOJP_gk6MKoLcPrbj9Hr7c3L9D57fLp7mF4_Zm3OWcygIgC8ApHnlMrC8EpSoo1ujBS6UY1sGG2UaASlRBpuSlZprYnSgqm8KiE_Rhfb3KV37ysIse5taKHr1ABuFWpaFITIQhRVQs930IVb-SFdlyjOSyEpZ4kiW6r1LgQPpl562ys_1pTUm8fUu49JlmxrCWoGf0L_478BY2aQOQ</recordid><startdate>20150101</startdate><enddate>20150101</enddate><creator>Miao, Yunjie</creator><creator>Gao, Feng</creator><creator>Pan, Dalei</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>20150101</creationdate><title>Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation</title><author>Miao, Yunjie ; Gao, Feng ; Pan, Dalei</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c342t-e90ee49e5331186f49810dfdbf85dbab8b21ba5b51108f4f729ddd0ad52a397e3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Cutting tools</topic><topic>Design optimization</topic><topic>Exoskeletons</topic><topic>Influence coefficient</topic><topic>Kinematics</topic><topic>Loads (forces)</topic><topic>Mechanical engineering</topic><topic>Motion control</topic><topic>Optimization</topic><topic>Prototypes</topic><topic>Walking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Miao, Yunjie</creatorcontrib><creatorcontrib>Gao, Feng</creatorcontrib><creatorcontrib>Pan, Dalei</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. 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| ispartof | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2015-01, Vol.229 (1), p.155-167 |
| issn | 0954-4062 2041-2983 |
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| source | SAGE Complete A-Z List |
| subjects | Cutting tools Design optimization Exoskeletons Influence coefficient Kinematics Loads (forces) Mechanical engineering Motion control Optimization Prototypes Walking |
| title | Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation |
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