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The lower limb exoskeleton can help the paralyzed walk again, also can be used to reduce the body weight. it is necessary to promote the anthropomorphic and man-machine matching of exoskeleton. The man-machine matching is divided into two, one is the structure matching and the other is the driven matching involving the biomechanics of the muscle. This article puts forward the design rule of exoskeleton...
Based on the theory of passive dynamic walking, a quasi-passive energy-efficient power-assisted lower-limb exoskeleton (QEPLEX) is developed. The 2D passive bipedal walking model is reviewed and the energy-efficient way to power the model on level ground is presented. Furthermore, the realistic 2D model based on the passive bipedal walking model for the creation of the energy-efficient lower-limb...
Robot-assisted therapy has become an important technology used to restore and reinforce the motor functions of the patients with neuromuscular disorders. In this paper, we proposed an upper-limb exoskeleton intended to assist the rehabilitation training of shoulder, elbow and wrist. The proposed therapeutic exoskeleton has an anthropomorphic structure able to match the upper-limb anatomy and enable...
The tendon-sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in tendon-sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-tendon-sheath...
This paper deals with the development and control of an upper limb exoskeleton used for the robotic rehabilitation of stroke patients. Bowden-cable actuators with a high power-weight ratio are applied in the robot system to provide remote power transmission and simplify the mechanical design. The kinematics model of the exoskeleton is analyzed and optimized to eliminate singularities from the desired...
Stereoscopic Warehouse plays an important role in the modernization of the logistics field. It is characterized by an informatization, automation, high efficiency, and often used in regional distribution center. In some special occasions or due to special field, the stereoscopic warehouse must be with tandem storage space in the reason that putting all of the racks parallelly in a single storage requires...
The Adaptive Particle Swarm Optimization method(A-PSO) combined the kinematic equations is proposed in this paper. The A-PSO is capable of solving the optimal solution of joint variables. The inverse kinematics mathematic model of the serial dangerous articles disposal manipulator with multiple degrees of freedom (Multi-DOFs) is built. In the proposed searching process, the position matrix and the...
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