سال انتشار: ۱۳۸۶

محل انتشار: پانزدهمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۵

نویسنده(ها):

Selk Ghafari – Center of Excellence in Design, Robotics and Automation (CEDRA) School of Mechanical Engineering, Sharif University of Technology,Tehran, Iran
Meghdari – Center of Excellence in Design, Robotics and Automation (CEDRA) School of Mechanical Engineering, Sharif University of Technology,Tehran, Iran
Vossoughi – Center of Excellence in Design, Robotics and Automation (CEDRA) School of Mechanical Engineering, Sharif University of Technology,Tehran, Iran

چکیده:

The main scope of the present research is to develop mathematical model to study of the lower-limb exoskeleton system employed forparaplegic patients’ motion assistance. A seven-DOF serial link mechanism model was employed to represent the anterior-posterior motion study of the exoskeleton and pilot dynamics. Lagrangian mechanics approach employed to formulate the governing equations of motion. It is hoped that the proposed model will provide an effective tool for future designing of the control strategy for active exoskeleton system to assist a paraplegic subject to walk.