论文标题
下肢负载减少了下肢骨骼轨迹轨迹的产生，使用Ankletorque最小化
Upper Extremity Load Reduction for Lower LimbExoskeleton Trajectory Generation Using AnkleTorque Minimization
论文作者
论文摘要
最近，下肢外骨骼对截瘫患者的预科疗程，以支持他们的日常生活。但是，飞行员必须通过一对拐杖施加效力，以保持平衡的行走。本文提出了一种用于平坦地面和楼梯上外骨骼运动的新型步态轨迹算法，旨在最大程度地减少PILOTWITHOUT所施加的力，从而增加了系统的自由度（DOF）。该系统被模型为五个链接机制，以动态进行扭矩计算。然后，一种优化方法用于生成最小化脚踝托基希奇的轨迹与支撑力相关。最后，进行了实验，以比较地面反作用力（GRF）施加的不同步态产生算法
Recently, the lower limb exoskeletons which providemobility for paraplegic patients to support their daily life havedrawn much attention. However, the pilots are required to applyexcessive force through a pair of crutches to maintain balanceduring walking. This paper proposes a novel gait trajectorygeneration algorithm for exoskeleton locomotion on flat groundand stair which aims to minimize the force applied by the pilotwithout increasing the degree of freedom (DoF) of the system.First, the system is modelled as a five-link mechanism dynam-ically for torque computing. Then, an optimization approachis used to generate the trajectory minimizing the ankle torquewhich is correlated to the supporting force. Finally, experimentis conducted to compare the different gait generation algorithmsthrough measurement of ground reaction force (GRF) appliedon the crutches
