Cargando…
A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joi...
Autores principales: | , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7663499/ https://www.ncbi.nlm.nih.gov/pubmed/33121194 http://dx.doi.org/10.3390/s20216116 |
_version_ | 1783609640855011328 |
---|---|
author | Glowinski, Sebastian Krzyzynski, Tomasz Bryndal, Aleksandra Maciejewski, Igor |
author_facet | Glowinski, Sebastian Krzyzynski, Tomasz Bryndal, Aleksandra Maciejewski, Igor |
author_sort | Glowinski, Sebastian |
collection | PubMed |
description | Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators’ characteristic points. |
format | Online Article Text |
id | pubmed-7663499 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-76634992020-11-14 A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators Glowinski, Sebastian Krzyzynski, Tomasz Bryndal, Aleksandra Maciejewski, Igor Sensors (Basel) Letter Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators’ characteristic points. MDPI 2020-10-27 /pmc/articles/PMC7663499/ /pubmed/33121194 http://dx.doi.org/10.3390/s20216116 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Letter Glowinski, Sebastian Krzyzynski, Tomasz Bryndal, Aleksandra Maciejewski, Igor A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title | A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title_full | A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title_fullStr | A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title_full_unstemmed | A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title_short | A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators |
title_sort | kinematic model of a humanoid lower limb exoskeleton with hydraulic actuators |
topic | Letter |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7663499/ https://www.ncbi.nlm.nih.gov/pubmed/33121194 http://dx.doi.org/10.3390/s20216116 |
work_keys_str_mv | AT glowinskisebastian akinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT krzyzynskitomasz akinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT bryndalaleksandra akinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT maciejewskiigor akinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT glowinskisebastian kinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT krzyzynskitomasz kinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT bryndalaleksandra kinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators AT maciejewskiigor kinematicmodelofahumanoidlowerlimbexoskeletonwithhydraulicactuators |