TY - GEN
T1 - Dynamic Analysis of the Human-Machine System of a 4-Bar Gait Constraint Mechanism
AU - Li, Lailu
AU - Zhang, Lixun
AU - Wang, Bing
AU - Song, Da
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Bar gait constraint mechanism has been proposed in terms of its benefits: low-cost, easy to adjust, and low weight. Aiming to analyze the interaction characteristics between the human body and the end-effector of the 4-Bar mechanism, it is necessary to conduct the dynamic analysis of the human-machine system, including the interaction force, contact force, and joint torque. First, a gait constraint mechanism based on 4-Bar was introduced. Second, the dynamic mathematical model of the human-machine system was established. Third, the dynamic simulation based on the mathematical equations was carried out. The results demonstrate that the interaction force between the machine and the human body is smooth. The human joint torques are also in a reasonable range, indicating that the 4-Bar gait constraint mechanism could assist individuals with locomotion obstacles to achieve low-limb exercises.
AB - Bar gait constraint mechanism has been proposed in terms of its benefits: low-cost, easy to adjust, and low weight. Aiming to analyze the interaction characteristics between the human body and the end-effector of the 4-Bar mechanism, it is necessary to conduct the dynamic analysis of the human-machine system, including the interaction force, contact force, and joint torque. First, a gait constraint mechanism based on 4-Bar was introduced. Second, the dynamic mathematical model of the human-machine system was established. Third, the dynamic simulation based on the mathematical equations was carried out. The results demonstrate that the interaction force between the machine and the human body is smooth. The human joint torques are also in a reasonable range, indicating that the 4-Bar gait constraint mechanism could assist individuals with locomotion obstacles to achieve low-limb exercises.
KW - 4-Bar
KW - dynamic
KW - gait
KW - human-machine
KW - simulation
UR - https://www.scopus.com/pages/publications/85163334935
U2 - 10.1109/ICMRA56206.2022.10145725
DO - 10.1109/ICMRA56206.2022.10145725
M3 - 会议稿件
AN - SCOPUS:85163334935
T3 - 2022 5th International Conference on Mechatronics, Robotics and Automation, ICMRA 2022
SP - 31
EP - 35
BT - 2022 5th International Conference on Mechatronics, Robotics and Automation, ICMRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Mechatronics, Robotics and Automation, ICMRA 2022
Y2 - 25 November 2022 through 27 November 2022
ER -