Comparison of dynamic models for the lower limb exoskeleton based on absolute and relative coordinates

Tianchang Xu

doi:10.1117/12.2652393

10 November 2022 Comparison of dynamic models for the lower limb exoskeleton based on absolute and relative coordinates

Tianchang Xu

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123310T (2022) https://doi.org/10.1117/12.2652393
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

A precise and accurate dynamic model of the lower limb exoskeleton is particularly important for the optimization of the exoskeleton mechanical structure parameters and the design of the control system. Different scholars choose different ways of modeling, which can be generally based on absolute coordinates and relative coordinates. In order to analyze the correctness of the two modeling methods, the dynamic model of the lower limb exoskeleton with 2 degrees of freedom in absolute coordinates and relative coordinates is established by using Lagrange equation. The contribution of this paper is that by comparing the torque expressions of hip and knee joint under the two modeling methods and combining with the derivation process, the correctness of the dynamic model under the two coordinate systems is qualitatively analyzed. This provides a reference for researchers to accurately model the lower limb exoskeleton.

Citation Download Citation

Tianchang Xu "Comparison of dynamic models for the lower limb exoskeleton based on absolute and relative coordinates", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123310T (10 November 2022); https://doi.org/10.1117/12.2652393

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