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For lower-limb power-assist exoskeleton, following the motion of human smoothly requires that the motion ranges of related joints are in coincident with the characteristics of human motion. The knee and hip joints bend at maximum angle when doing deep squat, which is a significant case for exoskeleton research. In this paper, we introduce a slider-crank mechanism to handle the problem of unachievable...
A new method for CAN-based multi-motor synchronous system is presented. A PMSM driver with CAN interface was designed, and the software with the function of synchronous control is also completed. The communication protocol is designed, and effective anti-interference measures are adopted to ensure good electromagnetic compatibility. The clock synchronization of different devices in the system is implemented...
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