A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking
Joint Authors
Li, Ge
Zhao, Jie
Zhu, Yanhe
Fang, Qianqian
Xu, Tian
Cai, Hegao
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-12-06
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
In this paper, a new modular upper limb rehabilitation exoskeleton, which is actuated by a parallel mechanical structure, is designed to help stroke patients.
For analysing the relationship between motor torque and joint torque of the novel exoskeleton, a conversion algorithm mapping motor motion to joint motion is developed here.
Then, to simplify the dynamics model of exoskeleton with parallel actuated joints, the serial equivalence configuration dynamics of the exoskeleton is established to be equivalent to the parallel joints dynamics.
Afterwards, a torque controller used for our exoskeleton is designed based on the proposed conversion algorithm and the inverse dynamics of exoskeleton.
It should be noted that the controller mentioned above combines both conversion algorithm and joint position decoupling.
At last, for verifying the effectiveness of the proposed algorithms, a trajectory tracking simulation is given, and the simulated results show the proposed algorithms are valid.
American Psychological Association (APA)
Fang, Qianqian& Li, Ge& Xu, Tian& Zhao, Jie& Cai, Hegao& Zhu, Yanhe. 2019. A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1195688
Modern Language Association (MLA)
Fang, Qianqian…[et al.]. A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking. Mathematical Problems in Engineering No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1195688
American Medical Association (AMA)
Fang, Qianqian& Li, Ge& Xu, Tian& Zhao, Jie& Cai, Hegao& Zhu, Yanhe. A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1195688
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195688