Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Research review on kinematics and dynamics of lower limb exoskeleton
| DOI: | 10.11809/bqzbgcxb2023.05.040 |
| Keywords: | exoskeleton robot; lower limb exoskeleton; kinematics; dynamics |
| Abstract: | The research of lower limb exoskeleton involves many fields such as robotics, electromechanical engineering, bionics, bioengineering and mechanics, which has distinctive interdisciplinary characteristics. The kinematics and dynamics research on lower limb exoskeleton is the theoretical basis for its structural design, intention recognition, control strategy and assistance evaluation, which has important theoretical significance and application value. Through a comprehensive analysis of domestic and foreign literature in related fields, this study details the current research status and progress from four aspects, including positive kinematics, inverse kinematics, classical mechanical analysis and musculoskeletal system modeling method. It then summarizes the difficulties and problems in current research and provides an outlook on the future development of lower limb exoskeletal kinematics and dynamics. |
| Issue: | Vol. 44 No. 5 (2023) |
| Published: | 2023-05-28 |
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